kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR999A_ArchGlbPrm_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. 1.3.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Avinash James

Change Request ID:

EA4#10351

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

MDD

Yes

Source Code

Yes

PolySpace

Integration Manual

Davinci Files

Comments:

New constants added

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. (Note: If this peer review form was not
completed for pervious versions of this component, the Change Owner should review the entire component and complete the checklist in its entirety prior and check
the form into Syngery. This may be done prior to reviewing the modifications for this Change Result)
- The Change Owner shall responsible for completing the entire checklist (Pre and Group review items) prior holding the initial group review.
- New components should include FDD Owner and Intergator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Select "Yes" and add "N/A" to the comments for checklist items that are not applicable for this change
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

Prep project is updated from correct basline

Yes

Comments:

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Avinash James

Review Date :

03/22/17

Lead Peer Reviewer:

Kathleen Creager

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: Source Code

Rev 7.0

20-Apr-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. ArchGlbPrm.h

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 3

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

FDD/SCIR/DSR/FDR/CMS Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER AR999A_ArchGlbPrm_Design v1.3.0

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

N/A

Comments:

for constant names

Yes

Comments:

Reviewed the changes

for function names

N/A

Comments:

for other names (component, memory

N/A

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

All source code changes have Requirements Tracability

N/A

Comments:

tags in the component

No Variables are declared at the Module level.

N/A

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Is component.h included

N/A

Comments:

Are all includes actually needed? System includes

Yes

Comments:

only allowed in Nexteer library components

Software Design and Coding Standards followed:

Version:2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

N/A

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code, function parameters

N/A

Comments:

to

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

N/A

Comments:

No possibility of divide by zero: [N65]

N/A

Comments:

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

N/A

Comments:

point value to an unsigned type: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

N/A

Comments:

pointer: [N70]

Module outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

N/A

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

No violations of other coding standard rules

Yes

Comments:

identified during review

Incorrect items that require FDD changes

N/A

Comments:

ie (display variables used incorrectly, limiting on outputs,

NvM struct types, divide by zero, other?)

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Avinash James

Review Date :

03/22/17

Lead Peer Reviewer:

Kathleen Creager

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

ArchGlbPrm.h

Source File Revision:

3

Source File Name:

Source File Revision:

Source File Name:

Source File Revision:

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

01.01.00

Poly Space version:

Windows User: eg. 2013b 2013B

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 NA

QAC version:

Windows User: eg 8.1.1-R 8.1.1-R

QAC sub project version:

Windows User: eg. TL_100A_1.1.0 1.2.0

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

for all functions in the component per Design

and Coding Standards rule [N47]

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Avinash James

Review Date :

03/22/17

Lead Peer Reviewer:

Kathleen Creager

Approved by Reviewer(s):

Yes

Other Reviewer(s):

2 - Component Implementation

Component Implementation

Component Documentation

ArCplrSuprt Peer Review Checklists.html

2.1 - ArCplrSuprt Peer Review Checklists

Overview

Summary Sheet
Synergy Project
Source Code

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR201A_ArCplrSuprt_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR201A_ArCplrSuprt_Impl_1.1.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Lucas Wendling

Work CR ID:

EA4#3184

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

N/A

MDD

Yes

Source Code

N/A

PolySpace

N/A

Integration Manual

N/A

Davinci Files

Comments:

This component is mostly-unmodified files delivered by third parties. Peer review focus is to ensure correctness

to delivered software and reviews of any Nexteer modifications.

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

N/A

Comments:

Project contains the correct version of subprojects

N/A

Comments:

Design subproject is correct version

N/A

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

01/12/16

Lead Peer Reviewer:

Kathleen Creager

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

N/A

Source File Revision:

N/A

Header File Name:

Compiler.h, Platform_Types.h

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 2, 2

MDD Name:

N/A

Revision:

N/A

FDD/SCIR/DSR/FDR/CM Name:

N/A

Revision:

N/A

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

N/A

Comments:

for constant names

N/A

Comments:

for function names

N/A

Comments:

for other names (component, memory

N/A

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

N/A

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

N/A

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

N/A

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

N/A

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

N/A

Comments:

Component.h is included

N/A

Comments:

All other includes are actually needed. (System includes

N/A

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version:

Code comments are clear, correct, and adequate

N/A

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

N/A

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

N/A

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

N/A

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

N/A

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

N/A

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

N/A

Comments:

finite loop iterations: [N63]

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

N/A

Comments:

null pointer if needed: [N70]

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

N/A

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

N/A

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments: List Anomaly or CR numbers

for any FDD corrections needed

General Notes / Comments:

Review only delivered file from vector SIP vs files to be checked in as well as new contract file "Renesas_Compiler.h"

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

01/12/16

Lead Peer Reviewer:

Kathleen Creager

Approved by Reviewer(s):

Yes

Other Reviewer(s):

3 - Component Implementation

Component Implementation

Component Documentation

ArSuprt Peer Review Checklists.html

3.1 - ArSuprt Peer Review Checklists

Overview

Summary Sheet
Synergy Project
3rd Party Files

Sheet 1: Summary Sheet

Rev 1.0

19-Apr-17

Peer Review Summary Sheet

Synergy Project Name:

Windows User: Intended Use: Identify which component is being reviewed. This should match the component short name and the middle part of the Synergy project name ArSuprt

Revision / Baseline:

Windows User: Intended Use: Identify the implementation baseline name intended to be used for the changed component when changes are approved. AR200A_ArSuprt_Impl_1.2.0

Change Owner:

Windows User: Intended Use: Identify the developer who made the change(s) being reviewed Kevin Smith

Work CR ID:

Windows User: Intended Use: Identify the Implementation Work CR whose work is being reviewed (may be more than one) EA3#14829

3rd party delivery package identifier:

Intended Use: This is a reference to the identifier of the 3rd party delivery package(s) that the component was extracted/created from. Rationale: This will allow easier tracing back to 3rd party deliveries. CBD1700369_D00_Rh850

Windows User: Identifiy which type of 3rd party component this is so as to provide appropriate review checklist sheets Component Type:

Windows User: General section for summarizing review comments or review notes. Review Checklist Summary:

Comments:

Added Fr_GeneralTypes.h to project

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention for 3rd Party Software Components

Project contains necessary subprojects

N/A

Comments:

There are no subprojects

Project contains the correct version of subprojects

N/A

Comments:

There are no subprojects

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kevin Smith

Review Date :

08/26/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: 3rd Party Files

Peer Review Meeting Log (3rd Party File Review)

Quality Check Items:

Rationale is required for all answers of No

(e.g. component_bswmd.arxml) Component "autosar" folder contains autosar module description file from 3rd party delivery package

N/A

Comments:

(e.g. component_preo.arxml) Component "autosar" folder contains any relevant preconfiguration files from 3rd party delivery package(s)

N/A

Comments:

If needed as in the case with Renesas MCAL (e.g. MCALcomponent_bswmd_rec.arxml taken from Vector delivery) Component "autosar" folder contains any needed supplemental autosar module description file(s)

N/A

Comments:

Component "doc" folder contains all documentation related to this component from 3rd party delivery package

N/A

Comments:

Besides this checklist, there is no

extra documentation.

Modifications from delivery to be reviewed (e.g. path changes) Component "generate" folder contains all external generation files from 3rd party delivery package

N/A

Comments:

Component "include" and "src" folder contains exact component files from 3rd party delivery package

Yes

Comments:

Component "make" folder contains any makefiles included from 3rd party delivery package

N/A

Comments:

1) All source and headers of component should be referenced in .gpj 2) Compiler settings may need to be tailored to source component (e.g. Renesas MCAL vs Vector BSWs) Component "tools" folder contains GHS project file with appropriate files referenced with appropriate compiler settings

Yes

Comments:

Should delete old existing files/directories from integration project and copy new ones into integration project May also contain logic for integrator user interaction if required. (e.g. selection of micro variant on MCAL) Component "tools" folder contains Integrate.bat with appropriate logic in it for integration into project

N/A

Comments:

Not required. Only needed to include

into working projects.

For external generation and internal behavior definition for use with Vector Davinci tools. Typically only desired/needed for non-Vector developed components. This file should be copied as part of Integrate.bat. Components optionally contains settings xml file with appropriate contents

N/A

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kevin Smith

Review Date :

08/26/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

4 - Component Implementation

Component Implementation

Component Documentation

4.1 - ImcArbn_IntegrationManual

Integration Manual

For

Imc Arbitration

VERSION: 1.0

DATE: 02-Feb-2017

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Akilan Rathakrishnan	1.0	17-Jan-2017
2	Added note about potential compilation issue in case of no signal group configured	Akilan Rathakrishnan	2.0	02-Feb-2017

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 8

5 Integration DATAFLOW REQUIREMENTS 9

5.1 Required Global Data Inputs 9

5.2 Required Global Data Outputs 9

5.3 Specific Include Path present 9

6 Runnable Scheduling 10

7 Memory Map REQUIREMENTS 12

7.1 Mapping 12

7.2 Usage 12

7.3 Non RTE NvM Blocks 12

7.4 RTE NvM Blocks 12

8 Compiler Settings 13

8.1 Preprocessor MACRO 13

8.2 Optimization Settings 13

9 Appendix 14

Abbrevations And Acronyms

Abbreviation	Description
DFD	Design functional diagram
MDD	Module design Document
	<ADD more to the table if applicable>

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
<1>	<FDD - <AR350A_ImcArbn_Design>	Refer Synergy subproject version

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

None

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

ImcArbn_Private_Cfg.c

ImcArbn_Private_Cfg.h

ImcArbn_ Cfg.h

Note 1: Include “ImcArbn_Private_Cfg.h” in the “Rte_UserTypes.h” file as user defined typedefs are generated in this file.

Note 2: Configuration files “ImcArbn_Private_Cfg.c”, “ImcArbn_Private_Cfg.h” and “ImcArbn_ Cfg.h”

shall be regenerated whenever there is a change in text template files ImcArbn_Private_Cfg.c.tt, ImcArbn_Private_Cfg.h.tt and ImcArbn_Cfg.c.tt.

Note 3: If there is no IMC Signal Group / IMC Signals are configured, configuration scripts of this component will end-up in generating zero-size array typedefs, which will cause compilation issues. It is a design limitation and underlying assumption is that if no Signal Group configured, then the component shall be removed from the project altogether.

Da Vinci DEVELOPER NOTES

Davinci Developer project for this component is just base. Integrator need to import the developer project into the integration project and add all required IMC Signals in order to access the signal using S/R Ports. Also, for every of the signal, based on the Rate Group provided by higher level Architectural and Requirement documents, port access shall be provided to corresponding Transmit periodics (ImcArbnPer1= 2ms, ImcArbnPer2= 10ms and ImcArbnPer3= 100ms). All IMC Signals RTE reads shall be direct reads.

Da Vinci Parameter Configuration Changes

Following configurations shall be made in DaVinci configurator for the component. Configuration data for this component shall be provided by higher level Architectural and Requirement documents.

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Exclusive Areas

Constant

Notes

SWC

ExclsvAr1DrvrTxRxBuf

Exclusive area needs to protect access to Transmit and Receive buffers from asynchronous updates by server runnables and periodic updates by tasks.

Integrator needs to verify if client calls to server runnables can inteerupt periodics and set up exclusive area to properly protect access. If exclusive area is needed, at minimum it must disable OS Task scheduling (It is assumed that all clients call occurs in OS Tasks).

ExclsvAr2SigDataBuf

Exclusive area needs to protect access to Signal data buffers from asynchronous read by server runnables and periodic updates by tasks.

Integrator needs to verify if client calls to server runnables can inteerupt periodics and set up exclusive area to properly protect access. If exclusive area is needed, at minimum it must disable OS Task scheduling (It is assumed that all clients call occurs in OS Tasks).

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

Refer AR350A_ImcArbn_DataDict.m file

Required Global Data Outputs

Refer AR350A_ImcArbn_DataDict.m file

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
ImcArbnInit1	Invoked by RTE during Init	RTE

Runnable	Scheduling Requirements	Trigger
ImcArbnPer1	Refer Notes listed below the table	RTE 2ms Task
ImcArbnPer2	Refer Notes listed below the table	RTE 10ms Taks
ImcArbnPer3	Refer Notes listed below the table	RTE 100ms Task
ImcArbnPer4	Refer Notes listed below the table	RTE 2ms Task
ImcArbnPer5	Refer Notes listed below the table	RTE 10ms Task
ImcArbnPer6	Refer Notes listed below the table	RTE 100ms Task
GetSigImcDataExtdSts_f32_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_u32_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_s32_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_u16_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_s16_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_u08_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_s08_Oper	Server Runnable	Client call
GetSigImcDataExtdSts_logl_Oper	Server Runnable	Client call
GetSigImcData_f32_Oper	Server Runnable	Client call
GetSigImcData_u32_Oper	Server Runnable	Client call
GetSigImcData_s32_Oper	Server Runnable	Client call
GetSigImcData_u16_Oper	Server Runnable	Client call
GetSigImcData_s16_Oper	Server Runnable	Client call
GetSigImcData_u08_Oper	Server Runnable	Client call
GetSigImcData_s08_Oper	Server Runnable	Client call
GetSigImcData_logl_Oper	Server Runnable	Client call
GetTxRateGroup_Oper	Server Runnable	Client call
GetTxSigGroup_Oper	Server Runnable	Client call
SetRxSigGroup_Oper	Server Runnable	Client call

Notes:

ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3 periodic functions shall be called prior to calling respective primary and secondary signal source transmit layer functions.
ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6 periodic functions shall be called after calling respective primary and secondary signal source receive layer functions.
ImcArbn Receive periodic functions (ImcArbnPer4, ImcArbnPer5 and ImcArbnPer6) shall run prior to the ImcArbn Transmit periodics (ImcArbnPer1, ImcArbnPer2 and ImcArbnPer3) functions.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
None

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
None

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

<This section is for appendix>

4.2 - ImcArbn_MDD

Module Design Document

For

Imc Arbitration

Nov 07, 2017

Prepared For:

Software Engineering

Nexteer Automotive,

Saginaw, MI, USA

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USAChange History

Sl. No.	Description	Author	Version	Date
1	Initial Version	Akilan Rathakrishnan	1.0	17-Jan-2017
2	Anomaly fix EA4#10556 - Remove bit mask function	Jayakrishnan T	2.0	19-Mar-2017
3	Updated local function paramters	Avinash James	3.0	07-Nov-2017

Table of Contents

1 ImcArbn High-Level Description 7

2 Design details of software module 8

Graphical representation of ImcArbn 8

2.1.1 Data Flow Diagram 8

2.1.2 Component level DFD 9

2.1.3 Function level DFD 9

3 Variable Data Dictionary 10

3.1 User defined typedef definition/declaration 10

3.2 Variable definition for enumerated types 12

4 Constant Data Dictionary 13

Program (fixed) Constants 13

4.1.1 Embedded Constants 13

4.1.1.2 Global 13

4.1.2 Module specific Lookup Tables Constants 13

5 Software Module Implementation 14

5.1 Sub-Module Functions 14

5.1.1 Init: ImcArbnInit1 14

5.1.1.1 Design Rationale 14

5.1.1.2 Design Rationale 14

5.1.2 PERIODIC FUNCTIONS 14

5.1.3 Per: ImcArbnPer1 14

5.1.3.1 Design Rationale 14

5.1.4 Per: ImcArbnPer2 14

5.1.4.1 Design Rationale 14

5.1.5 Per: ImcArbnPer3 14

5.1.5.1 Design Rationale 14

5.1.6 Per: ImcArbnPer4 14

5.1.6.1 Design Rationale 14

5.1.7 Per: ImcArbnPer5 14

5.1.7.1 Design Rationale 14

5.1.8 Per: ImcArbnPer6 14

5.1.8.1 Design Rationale 14

5.1.9 Interrupt Functions 14

5.2 Server Runnable Functions 15

5.2.1 GetSigImcDataExtdSts_f32 15

5.2.1.1 Design Rationale 15

5.2.2 GetSigImcDataExtdSts_u32 15

5.2.2.1 Design Rationale 15

5.2.3 GetSigImcDataExtdSts_u16 15

5.2.3.1 Design Rationale 15

5.2.4 GetSigImcDataExtdSts_s16 15

5.2.4.1 Design Rationale 15

5.2.5 GetSigImcDataExtdSts_u08 15

5.2.5.1 Design Rationale 15

5.2.6 GetSigImcDataExtdSts_s08 15

5.2.6.1 Design Rationale 15

5.2.7 GetSigImcDataExtdSts_logl 15

5.2.7.1 Design Rationale 15

5.2.8 GetSigImcData_f32 15

5.2.8.1 Design Rationale 15

5.2.9 GetSigImcData_u32 15

5.2.9.1 Design Rationale 15

5.2.10 GetSigImcData_s32 15

5.2.10.1 Design Rationale 15

5.2.11 GetSigImcData_u16 16

5.2.11.1 Design Rationale 16

5.2.12 GetSigImcData_s16 16

5.2.12.1 Design Rationale 16

5.2.13 GetSigImcData_u08 16

5.2.13.1 Design Rationale 16

5.2.14 GetSigImcData_s08 16

5.2.14.1 Design Rationale 16

5.2.15 GetSigImcData_logl 16

5.2.15.1 Design Rationale 16

5.2.16 GetTxRateGroup 16

5.2.16.1 Design Rationale 16

5.2.17 GetTxSigGroup 16

5.2.17.1 Design Rationale 16

5.2.18 SetRxSigGroup 16

5.2.18.1 Design Rationale 16

5.3 Module Internal (Local) Functions 16

5.3.1 Local Function #1 16

5.3.1.1 Description 17

5.3.2 Local Function #2 17

5.3.2.1 Description 17

5.3.3 Local Function #3 17

5.3.3.1 Description 17

5.3.4 Local Function #4 17

5.3.4.1 Description 17

5.3.5 Local Function #5 17

5.3.5.1 Description 18

5.3.6 Local Function #6 18

5.3.6.1 Description 18

5.3.7 Local Function #7 18

5.3.7.1 Description 18

5.3.8 Local Function #8 18

5.3.8.1 Description 18

5.3.9 Local Function #9 19

5.3.9.1 Description 19

5.3.10 Local Function #10 19

5.3.10.1 Description 19

5.3.11 Local Function #11 19

5.3.11.1 Description 19

5.3.12 Local Function #12 19

5.3.12.1 Description 20

5.3.13 Local Function #13 20

5.3.13.1 Description 20

5.3.14 Local Function #14 20

5.3.14.1 Description 20

5.3.15 Local Function #15 20

5.3.15.1 Description 20

5.3.16 Local Function #16 20

5.3.16.1 Description 20

5.3.17 Transition Functions 20

5.3.18 Global Function/Macro Definitions 21

6 Known Limitations with Design 22

7 UNIT TEST CONSIDERATION 23

Appendix A Abbreviations and Acronyms 24

Appendix B Glossary 25

Appendix C References 26

ImcArbn High-Level Description

The Inter-Micro Communication (IMC) Arbitration prepares data for transmission to a complimentary ECU through two redundant communication paths. On the receive side, the Arbitration reads data from the primary source and determines the data validity. A validity fault on primary source prompts the IMC Arbitration component to evaluate the same signal from the secondary source. Faulty signals from the primary source will be replaced with signals from the secondary source, as long as they are valid. If both data sources are invalid the IMC Arbitration outputs the signal status based on never received, missing and invalid conditions.

Design details of software module

See FDD.

Graphical representation of ImcArbn

Data Flow Diagram

See FDD.

Component level DFD

See FDD.

Function level DFD

See FDD.

Variable Data Dictionary

User defined typedef definition/declaration

<This section documents any user types uniquely used for the module.>

Variable definition for enumerated types

Enum Name	Element Name	Value
See AR350A_ImcArbn_DataDict.m file

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Local Constants

Constant Name	Resolution	Units	Value
See AR350A_ImcArbn_DataDict.m file
SETNODETSIGID_CNT_U16	1	Cnt	((uint16)0xFFFFU)

Global

Constant Name

See AR350A_ImcArbn_DataDict.m file

Module specific Lookup Tables Constants

<(This is for lookup tables (arrays) with fixed values, same name as other tables)>

Constant Name	type	Value	Software Segment
SIGGROUPCONFIG_REC	SigGroupRec1	Configurable	ImcArbn_CONST
<SIGGROUPNAME>_REC	SigPrmRec1	Configurable	ImcArbn_CONST
RATEGROUPOFFS_CNT_U08	Uint8	Configurable	ImcArbn_CONST
NRSIGGROUPINRATEGROUP_CNT_U08	Uint8	Configurable	ImcArbn_CONST
MISSSIGGROUPTIOUT_CNT_U08	Uint8	Configurable	ImcArbn_CONST

Note: <SIGGROUPNAME>_REC – Placeholder <SIGGROUPNAME> will be replaced based on respective Signal Group names from the configuration. Also note, this component will have as many number of <SIGGROUPNAME>_REC constants as number of Signal Groups.

Software Module Implementation

Sub-Module Functions

None

Init: ImcArbnInit1

Design Rationale

Design follows implementation in FDD.

Design Rationale

Refer FDD

PERIODIC FUNCTIONS

Per: ImcArbnPer1

Design Rationale

Refer FDD

Module Internal (Local) Functions

Local Function #1

Function Name	ImcArbnTx	Type	Min	Max
Arguments Passed	RateGroup_Cnt_T_u08	Uint8	0	2
Return Value	void	N/A	N/A	N/A

Description

This function implements “ImcArbnTx” function in the FDD.

Local Function #2

Function Name	ImcArbnRx	Type	Min	Max
Arguments Passed	FrmFltCntr_Ary2D_u8	Ary2D_u8_2_2	0x00	0xFF
	RateGroup_Cnt_T_u08	uint8	0	2
	IniTiOutChkCmpl_Cnt_T_logl	Boolean	0	1
Return Value	None	N/A	N/A	N/A

Description

This function implements “ImcArbnRx” function in the FDD.

Design Rationale

FrmSts_Cnt_T_enum initialization at the start of for loop is removed as it’s a redundant assignment and Polyspace is flagging it as a defect. The design may be updated in the next revision for the same.

Local Function #3

Function Name	NoDataHndlg	Type	Min	Max
Arguments Passed	RxSigExtdSts1_Cnt_T_enum	ImcArbnRxExtdSts1	0	6
	RxDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
	RateGroup_Cnt_T_u08	uint8	0	2
	SigGroup_Cnt_T_u08	uint8	0	255
	PrimSrcNoDataRxd_Cnt_T_logl	boolean	0	1
	SecdrySrcNoDataRxd_Cnt_T_logl	boolean	0	1
Return Value	None	N/A	N/A	N/A

Description

This function implements “NoDataHndlg” function in the FDD.

Local Function #4

Function Name	OvrdSigStsDurgStrtUp	Type	Min	Max
Arguments Passed	SigGroup_Cnt_T_u08	uint8	0	255
	IniTiOutChkCmpl_Cnt_T_logl	Boolean	0	1
Return Value	None	N/A	N/A	N/A

Description

This function implements “OvrdSigStsDurgStrtUp” function in the FDD.

Local Function #5

Function Name	EvlSigGroupNeverRxdMissSts	Type	Min	Max
Arguments Passed	RateGroup_Cnt_T_u08	uint8	0	2
	SigGroup_Cnt_T_u08	uint8	0	255
Return Value	RxSigExtdSts1_Cnt_T_enum	ImcArbnRxExtdSts1	0	6

Description

This function implements “OvrdSigStsDurgStrtUp” function in the FDD.

Local Function #6

Function Name	RxFrmVldChk	Type	Min	Max
Arguments Passed	DataBuf_Cnt_T_u08	uint8*	0x00000001	0xFFFFFFFF
	FrmFltCntr_Cnt_T_u08	u8*	0x00000001	0xFFFFFFFF
	SigGroupDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
	RateGroup_Cnt_T_u08	uint8	0	2
	SigGroup_Cnt_T_u08	Uint8	0	255
	PrimSrcOnlySigGroup_Cnt_T_logl	Boolean	0	1
	IniTiOutChkCmpl_Cnt_T_logl	Boolean	0	1
Return Value	FrmSts_Cnt_T_enum	ImcArbnRxRollgCntrSts1	0	2

Description

This function implements “RxFrmVldChk” function in the FDD.

Local Function #7

Function Name	ImcChResyncHndlg	Type	Min	Max
Arguments Passed	SigGroupDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
	SigGroup_Cnt_T_u08	Uint8	0	255
	PrsntRollgCntr_Cnt_T_u08	Uint8	0	31
Return Value	Void	NA	NA	NA

Description

This function implements “ImcChResyncHndlg” function in the FDD.

Local Function #8

Function Name	VldtRollgCntr	Type	Min	Max
Arguments Passed	SigGroupDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
	RateGroup_Cnt_T_u08	Uint8	0	2
	SigGroup_Cnt_T_u08	Uint8	0	255
	PrsntRollgCntr_Cnt_T_u08	Uint8	0	31
Return Value	RollgCntrSts_Cnt_T_enum	ImcArbnRxRollgCntrSts1	0	2

Description

This function implements “VldtRollgCntr” function in the FDD.

Local Function #9

Function Name	VldtRollgCntrAlg	Type	Min	Max
Arguments Passed	SigGroupDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
	RateGroup_Cnt_T_u08	Uint8	0	2
	SigGroup_Cnt_T_u08	Uint8	0	255
	PrsntRollgCntr_Cnt_T_u08	Uint8	0	31
Return Value	RollgCntrSts_Cnt_T_enum	ImcArbnRxRollgCntrSts1	0	2

Description

This function implements “VldtRollgCntrAlg” function in the FDD.

Local Function #10

Function Name	RollgCntrSeqChk	Type	Min	Max
Arguments Passed	PrsntRollgCntr_Cnt_T_u08	Uint8	0	31
	AntcptdRollCntr_Cnt_T_u08	Uint8	0	31
	UpprDriftLim_Cnt_T_u08	Uint8	0	255
	LwrDriftLim_Cnt_T_u08	Uint8	0	255
Return Value	RollgCntrVld_Cnt_T_logl	boolean	0	1

Description

This function implements “RollgCntrSeqChk” function in the FDD.

Local Function #11

Function Name	CreatSigGroupData	Type	Min	Max
Arguments Passed	SigGroup_T_rec	SigGroupRec1 const*	0x00000001	0xFFFFFFFF
Return Value	RetData_Uls_T_u32	uint32	0	4294967295

Description

This function implements “CreatSigGroupData” function in the FDD.

Local Function #12

Function Name	DecodSigGroupData	Type	Min	Max
Arguments Passed	SigGroup_T_rec	SigGroupRec1 const*	0x00000001	0xFFFFFFFF
	SigGroupRxData_Uls_T_u32	uint32	0	4294967295
	RxSigExtdSts1_Cnt_T_enum	ImcArbnRxExtdSts1	0	6
	RxDataSrc_Cnt_T_enum	ImcArbnRxDataSrc1	0	2
Return Value	void

Description

This function implements “DecodSigGroupData” function in the FDD.

Local Function #13

Function Name	GetImcSigSts	Type	Min	Max
Arguments Passed	RxSigExtdSts1_Cnt_T_enum	ImcArbnRxExtdSts1	0	6
Return Value	RetSts_Cnt_T_enum	ImcArbnRxSts1	0	2

Description

This function implements “GetImcSigSts” function in the FDD.

Local Function #14

Function Name	GetImcFltParamByte	Type	Min	Max
Arguments Passed	void
Return Value	FltBitMask_Cnt_T_u08	Uint8	0	15

Description

This function implements “GetImcFltParamByte” function in the FDD.

Local Function #15

Function Name	NoDataRxd	Type	Min	Max
Arguments Passed	StrtByte_Cnt_T_u08	Uint8	0	255
	EndByte_Cnt_T_u08	Uint8	0	255
Return Value	RetVal_Cnt_T_logl	boolean	0	1

Description

This function implements “NoDataRxd” function in the FDD.

Transition Functions

None.

Global Function/Macro Definitions

Refer FDD

Known Limitations with Design

None

UNIT TEST CONSIDERATION

Number of Signals / Signal Groups / Rate Groups that can be supported by Imc Tx/Rx is configurable. Even though underlying data type of configuration information might have wider range, only values that are generated out of configuration will be supported by the component. If complete range need to be supported, then make configuration, and generate the cfg files accordingly. Also, none of the configuration values shall be hand-modified to cover legal range of underlying parameter.

Abbreviations and Acronyms

Abbreviation or Acronym	Description
DFD	Design functional diagram
MDD	Module design Document
FDD	Functional Design Document

Glossary

Note: Terms and definitions from the source “Nexteer Automotive” take precedence over all other definitions of the same term. Terms and definitions from the source “Nexteer Automotive” are formulated from multiple sources, including the following:

ISO 9000
ISO/IEC 12207
ISO/IEC 15504
Automotive SPICE® Process Reference Model (PRM)
Automotive SPICE® Process Assessment Model (PAM)
ISO/IEC 15288
ISO 26262
IEEE Standards
SWEBOK
PMBOK
Existing Nexteer Automotive documentation

Term	Definition	Source
MDD	Module Design Document
DFD	Data Flow Diagram

References

Ref. #	Title	Version
1	AUTOSAR Specification of Memory Mapping (Link:AUTOSAR_SWS_MemoryMapping.pdf)	v1.3.0 R4.0 Rev 2
2	MDD Guideline	EA4 01.00.00
3	Software Naming Conventions.doc	2.0
4	Software Design and Coding Standards.doc	2.1
5	FDD: AR350A_ImcArbn_Design	See Synergy subproject version

4.3 - ImcArbn_Review

Overview

Summary Sheet
Synergy Project
Source Code
MDD
PolySpace

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR350A_ImcArbn_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR350A_ImcArbn_Impl_1.3.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Avinash James

Work CR ID:

EA4#17164

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

Yes

MDD

Yes

Source Code

Yes

PolySpace

N/A

Integration Manual

N/A

Davinci Files

Comments:

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Krishna Anne

Review Date :

11/08/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Gustavo Nunes

Sheet 3: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

ImcArbn.c

Source File Revision:

4

Header File Name:

ImcArbn.h

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 1

MDD Name:

ImcArbn_MDD.doc

Revision:

3

FDD/SCIR/DSR/FDR/CM Name:

AR350A_ImcArbn_Design

Revision:

1.5.0

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

N/A

Comments:

for constant names

Yes

Comments:

for function names

N/A

Comments:

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

Yes

Comments:

all outputs are initialized prior to being written

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

Yes

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

No

Comments:

Refer Comments

Component.h is included

Yes

Comments:

All other includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

Yes

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

N/A

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

N/A

Comments:

finite loop iterations: [N63]

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

Yes

Comments:

null pointer if needed: [N70]

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments: List Anomaly or CR numbers

for any FDD corrections needed

General Notes / Comments:

Reviewed only for changes

compilation warning is 'OK' after review.Cast of a uint32 pointer to a float32 pointer is allowed for the purpose of efficient memory copying.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Krishna Anne

Review Date :

11/08/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Gustavo Nunes

Sheet 4: MDD

Rev 1.2

8-Jun-15

Peer Review Meeting Log (MDD Review)

MDD Name:

ImcArbn_MDD.doc

MDD Revision:

3

Source File Name:

ImcArbn.c

Source File Revision:

4

Source File Name:

Source File Revision:

Source File Name:

Source File Revision:

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches document

Yes

Comments:

Change log contains detailed description of changes

Yes

Comments:

Changes Highlighted (for Unit Tester)

Yes

Comments:

Diagrams have been included per MDD Guideline

Yes

Comments:

and reviewed

All Design Exceptions and Limitations are listed

Yes

Comments:

Design rationale given for all global

N/A

Comments:

data not communicated through RTE ports, per

Design and Coding Standards rules [N9] and [N10].

All implementation details that differ from the FDD are

Yes

Comments:

noted and explained in Design Rationale

All Unit Test Considerations have been described

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Krishna Anne

Review Date :

11/08/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Gustavo Nunes

Sheet 5: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

ImcArbn.c

Source File Revision:

4

Source File Name:

ImcArbn_Private_Cfg.c

Source File Revision:

3

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

1.3.0

Poly Space version:

Windows User: eg. 2013b R2013b

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 Not released

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

for all functions in the component per Design

and Coding Standards rule [N47]

General Notes / Comments:

1. MISRA Rule 21.1 analyzed and found not an issue

2. Data flow issues in polyspace are analyzed and found not an issue

12.12 : Cast of a uint32 pointer to a float32 pointer is allowed for the purpose of efficient memory copying.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Krishna Anne

Review Date :

11/08/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Gustavo Nunes

5 - Component Implementation

Component Implementation

Component Documentation

Specific Component Tools

5.1 - MicroCtrlrSuprt Integration Manual

Integration Manual

For

MicroCtrlrSuprt

VERSION: 1

DATE: 07/19/17

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Lucas Wendling	1	07/19/17

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version

Dependencies

This component is dependant on the v800_ghs.h compiler header file for definition of some compiler intrinsic functions.

SWCs

Module	Required Feature

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

This component provides the following inline functions in NxtrMcuSuprtLib.h for use as needed in components and integration project. Note that the exact API for usage can be found in the header file.

For P1M devices:

Function Name	Description
WrProtdRegPortJ_u32	Protected Register write sequence for 32bit PortJ peripheral registers
WrProtdRegPort0_u32	Protected Register write sequence for 32bit Port0 peripheral registers
WrProtdRegPort1_u32	Protected Register write sequence for 32bit Port1 peripheral registers
WrProtdRegPort2_u32	Protected Register write sequence for 32bit Port2 peripheral registers
WrProtdRegPort3_u32	Protected Register write sequence for 32bit Port3 peripheral registers
WrProtdRegPort4_u32	Protected Register write sequence for 32bit Port4 peripheral registers
WrProtdRegPort5_u32	Protected Register write sequence for 32bit Port5 peripheral registers
WrProtdRegSys_u08	Protected Register write sequence for 8bit Sys peripheral registers
WrProtdRegSys_u32	Protected Register write sequence for 32bit Sys peripheral registers
WrProtdRegSysClmac_u32	Protected Register write sequence for 32bit Clmac peripheral registers
WrProtdRegClma0_u08	Protected Register write sequence for 8bit Clma0 peripheral registers
WrProtdRegClma1_u08	Protected Register write sequence for 8bit Clma1 peripheral registers
WrProtdRegClma2_u08	Protected Register write sequence for 8bit Clma2 peripheral registers
WrProtdRegClma3_u08	Protected Register write sequence for 8bit Clma3 peripheral registers
WrProtdRegEcmm_u08	Protected Register write sequence for 8bit Ecmm peripheral registers
WrProtdRegEcmc_u08	Protected Register write sequence for 8bit Ecmc peripheral registers
WrProtdRegEcm_u08	Protected Register write sequence for 8bit Ecm peripheral registers
WrProtdRegEcm_u16	Protected Register write sequence for 16bit Ecm peripheral registers
WrProtdRegEcm_u32	Protected Register write sequence for 32bit Ecm peripheral registers
WrProtdRegFlmd_u32	Protected Register write sequence for 32bit Flmd peripheral registers
NxtrSwRst	API to issue a Nexteer Defined Software Reset
NxtrSwRstFromExcpn	API to issue a Nexteer Defined Software Reset for resetting from a hardware exception source

For P1XC devices:

Function Name	Description
WrProtdRegEcmm0_u32	Protected Register write sequence for 32bit Ecmm0 peripheral registers
WrProtdRegEcmc0_u32	Protected Register write sequence for 32bit Ecmc0 peripheral registers
WrProtdRegEcm0_u32	Protected Register write sequence for 32bit Ecm0 peripheral registers
WrProtdRegFlmd_u32	Protected Register write sequence for 32bit Flmd peripheral registers
NxtrSwRst	API to issue a Nexteer Defined Software Reset
NxtrSwRstFromExcpn	API to issue a Nexteer Defined Software Reset for resetting from a hardware exception source

Configuration REQUIREMeNTS

None

Build Time Config

Modules	Notes

Configuration Files to be provided by Integration Project

N/A

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC

DaVinci Interrupt Configuration Changes

ISR Name	Notes

Manual Configuration Changes

Constant	Notes	SWC

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

Required Global Data Outputs

Specific Include Path present

Yes – Integrator must properly choose the correct include search path in this component in the integration .gpj file. The path chosen must align with the correct micro family (e.g. P1M vs P1MC) as well as the correct specific micro derivative that is being used in the integration project (e.g. R7F701373A). Additionally, the integration .gpj should only include the correct subproject .gpj file (again aligning to the correct micro family as well as correct micro derivative). Please note that two include paths are required in the integration project for use of this component, one to the base family being used (e.g. “-I..\..\AR202A_MicroCtrlrSuprt_Impl\include\P1XC\”) and one to the exact micro derivative (e.g. “-I..\..\AR202A_MicroCtrlrSuprt_Impl\include\P1XC\R7F701373A\”).

Runnable Scheduling

None.

Init	Scheduling Requirements	Trigger

Runnable	Scheduling Requirements	Trigger

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM

NvM Blocks

Compiler Settings

Preprocessor MACRO

Optimization Settings

Appendix

<This section is for appendix>

5.2 - MicroCtrlrSuprt Module Design Document

Module Design Document

For

MicroCtrlrSuprt

7/19/17

Prepared For:

Software Engineering

Nexteer Automotive,

Saginaw, MI, USA

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA
Change History

Description	Author	Version	Date
Initial Version	Lucas Wendling	1	7/19/17

Table of Contents

1 Introduction 5

1.1 Purpose 5

1.2 Scope 5

2 High-Level Description 6

3 Design details of software module 7

3.1 Graphical representation of NxtrOsErrHndlg (Expected External Intefaces) 7

3.2 Data Flow Diagram 7

3.2.1 Component level DFD 7

3.2.2 Function level DFD 7

4 Constant Data Dictionary 8

4.1 Program (fixed) Constants 8

4.1.1 Embedded Constants 8

5 Software Component Implementation 9

5.1 Sub-Module Functions 9

5.1.1 Init: 9

5.1.2 Per: 9

5.2 Server Runables 9

5.2.1 NxtrOsErrHndlg 9

5.2.1.1 Design Rationale 9

5.2.1.2 Processing 9

5.3 Interrupt Functions 13

5.4 Module Internal (Local) Functions 13

5.4.1 Local Function #1 13

5.4.1.1 Design Rationale 13

5.4.1.2 Processing 13

5.5 GLOBAL Function/Macro Definitions 13

5.5.1 GLOBAL Function #1 13

5.5.1.1 Design Rationale 13

5.5.1.2 Processing 13

6 Known Limitations with Design 14

7 UNIT TEST CONSIDERATION 15

Appendix A Abbreviations and Acronyms 16

Appendix B Glossary 17

Appendix C References 18

Introduction

Purpose

This design document will capture the design of the Nexteer Mcu Support Library (NxtrMcuSuprtLib) functionality. This is the only portion of this component that is designed by Nexteer rather than generated by a 3^rd party tool.

Scope

The following definitions are used throughout this document:

Shall: indicates a mandatory requirement without exception in compliance.
Should: indicates a mandatory requirement; exceptions allowed only with documented justification.
May: indicates an optional action.

High-Level Description

The Nexteer designed portions of this component include the definition of some inline functions for supporting the Renesas microcontroller. These are described in detail in the following sections. Note that this component supports multiple files to support the different microcontroller variants used by Nexteer.

Design details of software module

Graphical representation of Protected Register Write Functions

In general, the design of all protected write functions contained in this module follow the following high-level flow:

Graphical representation of Nexteer Software Reset Function

Graphical representation of Nexteer Software Reset From Exception Function

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Local Constants

Constant Name	Resolution	Units	Value
None

Software Component Implementation

Sub-Module Functions

Init:

None

Per:

None

Library/Server Runables

P1M Micro Variants

Protected Write APIs

Function Name	WrProtdRegPortJ_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC24014 0xFFC24018 0xFFC24028
Return Value	N/A (void)

Function Name	WrProtdRegPort0_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC14014 0xFFC14018 0xFFC1403C 0xFFC14028 0xFFC10030
Return Value	N/A (void)

Function Name	WrProtdRegPort1_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC14054 0xFFC14058 0xFFC1407C 0xFFC14068 0xFFC10070
Return Value	N/A (void)

Function Name	WrProtdRegPort2_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC14094 0xFFC14098 0xFFC140BC 0xFFC140A8 0xFFC100B0
Return Value	N/A (void)

Function Name	WrProtdRegPort3_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC140D4 0xFFC140D8 0xFFC140FC 0xFFC140E8 0xFFC100F0
Return Value	N/A (void)

Function Name	WrProtdRegPort4_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC14114 0xFFC14118 0xFFC1413C 0xFFC14128 0xFFC10130
Return Value	N/A (void)

Function Name	WrProtdRegPort5_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFC14154 0xFFC14158 0xFFC1417C 0xFFC14168 0xFFC10170
Return Value	N/A (void)

Function Name	WrProtdRegSys_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFF82838 0xFFF82830 0xFFF8282C 0xFFF8283C
Return Value	N/A (void)

Function Name	WrProtdRegSys_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFF82840
Return Value	N/A (void)

Function Name	WrProtdRegSysClmac_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFF82C00 0xFFF8AC18 0xFFF89080 0xFFF890C0 0xFFF89200 0xFFF8A440 0xFFF88204
Return Value	N/A (void)

Function Name	WrProtdRegClma0_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFF88400
Return Value	N/A (void)

Function Name	WrProtdRegClma1_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFF88420
Return Value	N/A (void)

Function Name	WrProtdRegClma2_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFF88440
Return Value	N/A (void)

Function Name	WrProtdRegClma3_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFF88460
Return Value	N/A (void)

Function Name	WrProtdRegEcmm_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFD60000 0xFFD60004
Return Value	N/A (void)

Function Name	WrProtdRegEcmc_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFD61000 0xFFD61004
Return Value	N/A (void)

Function Name	WrProtdRegEcm_u08	Type	Min	Max
Arguments Passed	WrVal_Arg	uint8	Full	Full
	WrAddr_Arg	pointer to volatile uint8	Valid values: 0xFFD62000 0xFFD6203C
Return Value	N/A (void)

Function Name	WrProtdRegEcm_u16	Type	Min	Max
Arguments Passed	WrVal_Arg	uint16	Full	Full
	WrAddr_Arg	pointer to volatile uint16	Valid values: 0xFFD62044
Return Value	N/A (void)

Function Name	WrProtdRegEcm_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFD62004 0xFFD62008 0xFFD6200C 0xFFD62010 0xFFD62014 0xFFD62018 0xFFD6201C 0xFFD62020 0xFFD62024 0xFFD62028 0xFFD62034 0xFFD62038 0xFFD62048 0xFFD6204C 0xFFD62050 0xFFD62054
Return Value	N/A (void)

Function Name	WrProtdRegFlmd_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFA00000
Return Value	N/A (void)

Design Rationale

These functions will perform the correct sequence of writes to protected registers. These are designed such that the function attempts the write sequence up to 3 times with increasing levels of interrupt disabling for each attempt (no interrupts disabled->Os interrupts disabled->All interrupts disabled). Since these functions are broken out based on the peripheral register set to be written and width of register write, DET error checking is done to ensure the implementer is using the correct API. A DET error is also set if for some reason the 3 write attempts all fail.

Processing

See source code for implementation.

Nexteer Software Reset

Function Name	NxtrSwRst	Type	Min	Max
Arguments Passed	McuDiagcData0_Arg	McuDiagc1	Full	Full
	McuDiagcData1_Arg	uint32	Full	Full
Return Value	N/A (void)

Design Rationale

This function exists to ensure that before calling a reset, the caller is properly indicating what the source of the reset is and that this type of reset is part of the known list of reset causes. Additionally, the second parameter is able to store more information along with the reset. This processing is done in a separate component, but the interface is the “SetMcuDiagcIdnData” API. Additionally, the Renesas SAN indicates that before any software reset, the register containing the reset cause flags shall be cleared. The Mcu_PerformReset() function is then called to perform the actual reset. In the event that there is an issue where this function doesn’t actually perform a reset as expected, a while loop is entered at the end of this function, which could likely lead to a hardware watchdog timeout if this loop is entered.

Processing

See source code for implementation.

Nexteer Software Reset From Exception

Function Name	NxtrSwRstFromExcpn	Type	Min	Max
Arguments Passed	McuDiagcData0_Arg	McuDiagc1	Full	Full
	McuDiagcData1_Arg	uint32	Full	Full
Return Value	N/A (void)

Design Rationale

This function exists to ensure that before calling a reset from a hardware exception, the caller is properly indicating what the source of the reset is and that this type of reset is part of the known list of reset causes. This function will clear all ECM status registers prior to issuing a reset to ensure a known state of these registers after the reset. Additionally, the second parameter to this function is used to store more information along with the reset.

In an effort to try to capture useful data relating to the exception, the internal logic of this function will attempt to at least store the register value that contains the program counter of when the exception occurred. In order for this to work, a value of “0x0000000” must be passed to the “McuDiagcData1_Arg” argument in the case of an FE exception, and an value of “0xFFFFFFFF” must be passed to the “McuDiagcData1_Arg” argument in the case of an EI exception. In case of any other values in the “McuDiagcData1_Arg” , this function assumes the caller of this function has already setup data that is desired to be stored in this argument, and therefore leaves it unmodified.

This storage of this reset information is done in a separate component, but the interface is the “SetMcuDiagcIdnData” API.

This function also intentionally attempts to write the error output pin to an “error” state as a redundant mechanisms for putting the system into a safe state in the event that the software reset (which also should drive the system to a safe state) doesn’t properly execute.

Additionally, the Renesas SAN indicates that before any software reset, the register containing the reset cause flags shall be cleared. The Mcu_PerformReset() function is then called to perform the actual reset. In the event that there is an issue where this function doesn’t actually perform a reset as expected, a while loop is entered at the end of this function, which could likely lead to a hardware watchdog timeout if this loop is entered.

Processing

See source code for implementation.

P1XC Micro Variants

Protected Write APIs

Function Name	WrProtdRegEcmm0_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFD60000 0xFFD60004
Return Value	N/A (void)

Function Name	WrProtdRegEcmc0_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFD61000 0xFFD61004
Return Value	N/A (void)

Function Name	WrProtdRegEcm0_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFD62000 0xFFD62004 0xFFD62008 0xFFD6200C 0xFFD62010 0xFFD62014 0xFFD62018 0xFFD6201C 0xFFD62020 0xFFD62024 0xFFD62028 0xFFD6202C 0xFFD62030 0xFFD62034 0xFFD62038 0xFFD6203C 0xFFD62048 0xFFD6204C 0xFFD62050 0xFFD62054 0xFFD6205C 0xFFD62060 0xFFD62064 0xFFD62068 0xFFD6206C 0xFFD62070 0xFFD62074 0xFFD62078
Return Value	N/A (void)

Function Name	WrProtdRegFlmd_u32	Type	Min	Max
Arguments Passed	WrVal_Arg	uint32	Full	Full
	WrAddr_Arg	pointer to volatile uint32	Valid values: 0xFFA00000
Return Value	N/A (void)

Design Rationale

These functions will perform the correct sequence of writes to protected registers. These are designed such that the function attempts the write sequence up to 3 times with increasing levels of interrupt disabling for each attempt (no interrupts disabled->Os interrupts disabled->All interrupts disabled). Since these functions are broken out based on the peripheral register set to be written and width of register write, DET error checking is done to ensure the implementer is using the correct API. A DET error is also set if for some reason the 3 write attempts all fail.

Processing

See source code for implementation.

Nexteer Software Reset

Function Name	NxtrSwRst	Type	Min	Max
Arguments Passed	McuDiagcData0_Arg	P1mcDiagc1	Full	Full
	McuDiagcData1_Arg	uint32	Full	Full
Return Value	N/A (void)

Design Rationale

This function exists to ensure that before calling a reset, the caller is properly indicating what the source of the reset is and that this type of reset is part of the known list of reset causes. Additionally, the second parameter is able to store more information along with the reset. This processing is done in a separate component, but the interface is the “SetMcuDiagcIdnData” API. Additionally, the Renesas SAN indicates that before any software reset, the register containing the reset cause flags shall be cleared. The Mcu_PerformReset() function is then called to perform the actual reset. In the event that there is an issue where this function doesn’t actually perform a reset as expected, a while loop is entered at the end of this function, which could likely lead to a hardware watchdog timeout if this loop is entered.

Processing

See source code for implementation.

Nexteer Software Reset From Exception

Function Name	NxtrSwRstFromExcpn	Type	Min	Max
Arguments Passed	McuDiagcData0_Arg	P1mcDiagc1	Full	Full
	McuDiagcData1_Arg	uint32	Full	Full
Return Value	N/A (void)

Design Rationale

This function exists to ensure that before calling a reset from a hardware exception, the caller is properly indicating what the source of the reset is and that this type of reset is part of the known list of reset causes. This function will clear all ECM status registers prior to issuing a reset to ensure a known state of these registers after the reset. Additionally, the second parameter to this function is used to store more information along with the reset.

In an effort to try to capture useful data relating to the exception, the internal logic of this function will attempt to at least store the register value that contains the program counter of when the exception occurred. In order for this to work, a value of “0x0000000” must be passed to the “McuDiagcData1_Arg” argument in the case of an FE exception, and an value of “0xFFFFFFFF” must be passed to the “McuDiagcData1_Arg” argument in the case of an EI exception. In case of any other values in the “McuDiagcData1_Arg” , this function assumes the caller of this function has already setup data that is desired to be stored in this argument, and therefore leaves it unmodified.

This storage of this reset information is done in a separate component, but the interface is the “SetMcuDiagcIdnData” API.

This function also intentionally attempts to write the error output pin to an “error” state as a redundant mechanisms for putting the system into a safe state in the event that the software reset (which also should drive the system to a safe state) doesn’t properly execute.

Additionally, the Renesas SAN indicates that before any software reset, the register containing the reset cause flags shall be cleared. The Mcu_PerformReset() function is then called to perform the actual reset. In the event that there is an issue where this function doesn’t actually perform a reset as expected, a while loop is entered at the end of this function, which could likely lead to a hardware watchdog timeout if this loop is entered.

Processing

See source code for implementation.

Interrupt Functions

None

Module Internal (Local) Functions

Local Function #1

Function Name	Type	Min	Max
Arguments Passed

Return Value

Design Rationale

Processing

GLOBAL Function/Macro Definitions

GLOBAL Function #1

Function Name	Type	Min	Max
Arguments Passed

Return Value

Design Rationale

Processing

Known Limitations with Design

Functionality for P1XC devices that is currently supported by this component is only targeted for P1MC variants (not designed for P1HC variants).

UNIT TEST CONSIDERATION

Abbreviations and Acronyms

Abbreviation or Acronym	Description

Glossary

Note: Terms and definitions from the source “Nexteer Automotive” take precedence over all other definitions of the same term. Terms and definitions from the source “Nexteer Automotive” are formulated from multiple sources, including the following:

ISO 9000
ISO/IEC 12207
ISO/IEC 15504
Automotive SPICE® Process Reference Model (PRM)
Automotive SPICE® Process Assessment Model (PAM)
ISO/IEC 15288
ISO 26262
IEEE Standards
SWEBOK
PMBOK
Existing Nexteer Automotive documentation

Term	Definition	Source
MDD	Module Design Document
DFD	Data Flow Diagram

References

Ref. #	Title	Version
1	AUTOSAR Specification of Memory Mapping (Link:AUTOSAR_SWS_MemoryMapping.pdf)	v1.3.0 R4.0 Rev 2
2	MDD Guideline EA4 01.00.01.docx	EA4 01.00.01
3	Software Naming Conventions.doc	1.0
4	EA4 Software Naming Conventions 01.01.00.docx	01.01.00

5.3 - MicroCtrlrSuprt Peer Review Checklists

Overview

Summary Sheet
Synergy Project
3rd Party Files
Integration Manual
Nexteer Source Code
MDD
PolySpace

Sheet 1: Summary Sheet

Rev 1.0

19-Apr-17

Peer Review Summary Sheet

Synergy Project Name:

Windows User: Intended Use: Identify which component is being reviewed. This should match the component short name and the middle part of the Synergy project name MicroCtrlrSuprt

Revision / Baseline:

Windows User: Intended Use: Identify the implementation baseline name intended to be used for the changed component when changes are approved. AR202A_MicroCtrlrSuprt_Impl_2.2.0

Change Owner:

Windows User: Intended Use: Identify the developer who made the change(s) being reviewed Avinash James

Work CR ID:

Windows User: Intended Use: Identify the Implementation Work CR whose work is being reviewed (may be more than one) EA4#12708

3rd party delivery package identifier:

Intended Use: This is a reference to the identifier of the 3rd party delivery package(s) that the component was extracted/created from. Rationale: This will allow easier tracing back to 3rd party deliveries. N/A

Windows User: Identifiy which type of 3rd party component this is so as to provide appropriate review checklist sheets Component Type:

Windows User: General section for summarizing review comments or review notes. Review Checklist Summary:

Comments:

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

Follows standard Nexteer developed

naming convention for 3rd Party Software Components

component naming conventions

Project contains necessary subprojects

Yes

Comments:

Requires dependencies for

included header files

Project contains the correct version of subprojects

Yes

Comments:

General Notes / Comments:

subprojects were unchanged since they were not affected by the updates in 2.2.0

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Avinash James

Review Date :

11/20/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: 3rd Party Files

Peer Review Meeting Log (3rd Party File Review)

Quality Check Items:

Rationale is required for all answers of No

(e.g. component_bswmd.arxml) Component "autosar" folder contains autosar module description file from 3rd party delivery package

N/A

Comments:

(e.g. component_preo.arxml) Component "autosar" folder contains any relevant preconfiguration files from 3rd party delivery package(s)

N/A

Comments:

If needed as in the case with Renesas MCAL (e.g. MCALcomponent_bswmd_rec.arxml taken from Vector delivery) Component "autosar" folder contains any needed supplemental autosar module description file(s)

N/A

Comments:

Component "doc" folder contains all documentation related to this component from 3rd party delivery package

N/A

Comments:

Modifications from delivery to be reviewed (e.g. path changes) Component "generate" folder contains all external generation files from 3rd party delivery package

N/A

Comments:

Component "include" and "src" folder contains exact component files from 3rd party delivery package

Yes

Comments:

Tool generated headers contained in

include folder for P1XC devices

Component "make" folder contains any makefiles included from 3rd party delivery package

N/A

Comments:

1) All source and headers of component should be referenced in .gpj 2) Compiler settings may need to be tailored to source component (e.g. Renesas MCAL vs Vector BSWs) Component "tools" folder contains GHS project file with appropriate files referenced with appropriate compiler settings

Yes

Comments:

Should delete old existing files/directories from integration project and copy new ones into integration project May also contain logic for integrator user interaction if required. (e.g. selection of micro variant on MCAL) Component "tools" folder contains Integrate.bat with appropriate logic in it for integration into project

N/A

Comments:

Headers only in component, so no need

of integration batch file

For external generation and internal behavior definition for use with Vector Davinci tools. Typically only desired/needed for non-Vector developed components. This file should be copied as part of Integrate.bat. Components optionally contains settings xml file with appropriate contents

N/A

Comments:

Headers only in component, so no need

of settings xml file

General Notes / Comments:

.gpj file update needed for the new header (SEG_RegDefns.h) - Done 11/20/2017

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Avinash James

Review Date :

11/20/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: Integration Manual

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

kzshz2: Intended Use: Identify which file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. MicroCtrlrSuprt Integration Manual.doc

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 1

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches header

Yes

Comments:

Latest template used

Yes

Comments:

Change log contains detailed description of changes

Yes

Comments:

Changes Highlighted (for Integrator)

N/A

Comments:

Initial Version

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

07/20/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 5: Nexteer Source Code

Peer Review Meeting Log (Source Code Review)

Source File Name:

N/A

Source File Revision:

Windows User: Intended Use: Synergy version number of the file being reviewed. (Version number that Synergy displays on the checked out or unmodified file in the working project) N/A

Header File Name:

NxtrMcuSuprtLib.h (P1XC version)

Header File Revision:

Windows User: Intended Use: Synergy version number of the file being reviewed. (Version number that Synergy displays on the checked out or unmodified file in the working project) 1

MDD Name:

MicroCtrlrSuprt Module Design Document.docx

Revision:

Windows User: Intended Use: Synergy version number of the file being reviewed. (Version number that Synergy displays on the checked out or unmodified file in the working project) 1

Quality Check Items:

Rationale is required for all answers of No

EA4 Software Naming Convention followed:

Windows User: Intended Use: list version/revision of latest released EA4 Software Naming Conventions document. (Listing version of the EA4 Common Naming Conventions is not needed since it is called out by the Software Naming Conventions document) Version:

for variable names

Yes

Comments:

for constant names

N/A

Comments:

for function names

Yes

Comments:

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

Verified no possibility of uninitialized variables being

N/A

Comments:

written to component outputs or IRVs

All variables are declared at the function level.

N/A

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

(including any anomaly number(s) being fixed) and

Work CR number

Code accurately implements MDD

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

(and verified for all possible combinations of any

conditionally compiled code)

Component.h is included

N/A

Comments:

All includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

Yes

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

N/A

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

N/A

Comments:

is per standard

All execution-order-dependent code can be

Yes

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

No

Comments:

There are intentional loop forever

finite loop iterations: [N63]

loops in this component after issuing software reset

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

Yes

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

Yes

Comments:

DET mechanism will check for

null pointer if needed: [N70]

bad pointers in this component

Component outputs are limited to the legal range

N/A

Comments:

No Outputs

defined in the design (MDD) : [N53]

All code is mapped with MDD (all MDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some MDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

General Notes / Comments:

Note only P1XC version of header was reviewed under this peer review, as no changes were done to the P1M version.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

07/20/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 6: MDD

Peer Review Meeting Log (MDD Review)

MDD Name:

MicroCtrlrSuprt Module Design Document.docx

MDD Revision:

1

Source File Name:

NxtrMcuSuprtLib.h (P1M version)

Source File Revision:

3

Source File Name:

NxtrMcuSuprtLib.h (P1XC version)

Source File Revision:

1

Source File Name:

Source File Revision:

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches document

Yes

Comments:

Change log contains detailed description of changes

N/A

Comments:

Initial Version

Changes Highlighted (for Unit Tester)

N/A

Comments:

Initial Version

Diagrams have been included per MDD Guideline

Yes

Comments:

and reviewed

All Design Exceptions and Limitations are listed

Yes

Comments:

Design rationale given for all global

N/A

Comments:

data not communicated through RTE ports, per

Design and Coding Standards rules [N9] and [N10].

All Unit Test Considerations have been described

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

07/20/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 7: PolySpace

Peer Review Meeting Log (PolySpace Review)

Source File Name:

NxtrMcuSuprtLib.h (P1M version)

Source File Revision:

3

Source File Name:

NxtrMcuSuprtLib.h (P1XC version)

Source File Revision:

1

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

01.02.00

Poly Space version:

Windows User: eg. 2013b 2013b

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

for all functions in the component per Design

and Coding Standards rule [N47]

General Notes / Comments:

Red polyspace errors for inifinite loops. This is acceptable since it is intended to have these after attempting to issue a software reset.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

07/20/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

5.4 - HeaderGen

Rev. 1.2

April 20th, 2016

Introduction

This document describes installation and usage of the C code header file generation script (HeaderGen) created by Renesas. The HeaderGen script is a Python based script that utilizes one external Python module for parsing Excel files. The purpose of the tool is to enable more configurable and consistent header file generation for our customers, as well as to provide some useful formatting options within the header files themselves.

Contents

1. Installation 1

2. Usage 2

2.1 Configuration File 2

Installation

The following tools are needed for execution of the Script

Python

v2.7.9

Visit the Python Install site and download the latest v2.x.x Windows version:

https://www.python.org/downloads/

openpyxl

v2.3.0

(1) Download easy_install from Windows from this link: https://bootstrap.pypa.io/ez_setup.py

(2) execute the file ez_setup.py:

>python ez_setup.py

(3) Navigate to C:\PythonXX\Script and execute

> easy_install openpyxl

.

Excel

2013

Script requires use of the .xlsx Excel file format

Table 1: Required SW Packages

Usage

Configuration File

The script takes as an input a text configuration file. Required fields in the file are:

Field	Description	Example
Input_file_name	Excel input file name and full or relative path	./dr7f701310_matrix_smaller.xlsx
Tab_name	Excel tab name with relevant data – typically “APB area2”	APB area2
Output_file_location	Location where the resulting header files will be written with full or relative path. NOTE: this is currently unsupported	./
Base_type_byte	Base type for byte variables	uint8
Base_type_short	Base type for short (two byte) variables	uint16
Base_type_long	Base type for long (four byte) type variables	uint32
Base_union_name_byte	Name for byte variable access within union of register access types	UINT8
Base_union_name_short	Name for short variable access within union of register access types	UINT16
Base_union_name_long	Name for long variable access within union of register access types	UINT32
Base_union_name_bits	Name for bit variable access within union of register access types. This will provide access to the bitfield structure.	BITS
[prefix] (sample text)	Anything following a line starting with [prefix] will be printed exactly at the start of the header file, after the inclusion guard #ifdef
[groups] (sample group)	By default, all register access structures, address binding pragmas, and access macros will be placed into the default output file. Adding a group to the configuration file will place any register whose name starts with the text following [groups] into a separate file. More than one piece of text can follow a group name, as shown in the example.	[groups] ADC_FILE = ADCD0, ADCD1 This will place all registers starting with either “ADC0” or “ADCD1” into an output file called dr7f701310_ADC_FILE.h, and cause them to skip the default header file. [groups] DEFAULT = This is the default group for all register information. It must be present in the configuration file. This will place all unmatched registers into an output file called dr7f701310_DEFAULT.h.
[suffix] (sample text)	Anything following a line starting with [suffix] will be printed exactly at the end of the header file, before the inclusion guard #endif
[skip] (address)	Only hexadecimal addresses are allowed to follow the [skip] tag. Any register whose address overlaps with this address will be placed into a group labeled “skip” and generate into a _SKIP.h file	[skip] DEADBEEF
use_module_names = <True/False>	Setting this argument to true will ignore all [groups] arguments and use the module column from the Excel file as register grouping names.	use_module_names = True
gen_address_macros = <True/False>	Setting this argument to true will generate macros for each register mapping their address to the register name followed by “_ADDR”	gen_address_macros = True

Table 2: configuration file entries

Execution

The script can be executed by issuing this command from the command line:

> python headerGen.py config.txt

Note: this assumes (1) the python executable has been added to your system path, and (2) the headerGen,py script and config file are resident in your current directory.

The script will print several informative messages to the command line as it runs. Because the Excel file for a typical micro is very large (>50,000 lines), the script can take up to 10 minutes to execute. It will print percentage complete status messages during long running sections.

You will see these messages when the command line script has completed:

Output

Figure 1: header file contents and usage

Revision Record

Rev.	Date	Description
Rev.	Date	Page	Summary
1.0	2/8/2016	All	Initial Draft
1.1	2/25/2016	Multiple	Adding support for multiple groups, marking output file directory config option as unsupported.
1.2	4/20/2016	Multiple	Adding support for register address macro generation as well as register grouping based on module name column from Excel

Testing

Due to the size of the input Excel file, it is not feasible for Renesas or a customer (user) of the script to test each of the registers generated. Therefore, we have identified a sub-set of registers that represent interesting register layout permutations for testing. As long as these registers have generated fine, we can assume that all other register, being of identical pattern to these registers, are fine as well.

The registers in the test suite are:

Number	Register size	Base access type	Bit access type	P1M example
1	8-bit	8-bit	8-bit	15.3.10 – SCI30BRR

NOTE: SCI30BRR and SCI30MDDR are allocated to the same address, so the script will parse this incorrectly.

2	8-bit	8-bit	< 8-bit, single	10.4.2 – CVMF


3	8-bit	8-bit	< 8-bit, multiple	16.3.2.1 – RLN30LWBR


3a	8-bit	8-bit, 1-bit	< 8-bit, single	14.3.2 – CSIH0CTL0


4	16-bit	16-bit	16-bit	13.3.10 – CSIG0TX0H


5	16-bit	16-bit	8-bit	16.3.3.18 – RLN30LUTDR


6	16-bit	16-bit	< 8-bit, single	13.3.6 – CSIG0STCR0


7	16-bit	16-bit	< 8-bit, multiple, cross byte boundaries	13.3.4 – CSIG0CTL2


8	16-bit	16-bit, 8-bit	16-bit

9	16-bit	16-bit, 8-bit	8-bit

10	16-bit	16-bit, 8-bit	< 8-bit, single

11	16-bit	16-bit, 8-bit	< 8-bit, multiple

12	32-bit	32-bit	32-bit	19.3.2 – RSENTT0TSC


13	32-bit	32-bit	16-bit	13.3.9 – CSIG0TX0W


14	32-bit	32-bit	8-bit	14.3.5 – CSIH0STR0


15	32-bit	32-bit	< 8-bit, single	7.9.2.1 – DMACTL


15b	32-bit	32-bit	< 8-bit, single, all 32-bits	7.9.2.13 – DTSPR0

Note: Excel and .pdf UM don’t match exactly, Excel shows these as 2-bit entries, while UM shows them as single bit entries that are clearly paired via name.

16	32-bit	32-bit	< 8-bit, multiple	7.9.2.9 – DM0CMV


16b	32-bit	32-bit	< 8-bit, multiple, crossing byte boundaries	11.3.5 – TSNREFD


17	32-bit	32-bit, 16-bit	32-bit

18	32-bit	32-bit, 16-bit	16-bit

19	32-bit	32-bit, 16-bit	8-bit

20	32-bit	32-bit, 16-bit	< 8-bit, single

21	32-bit	32-bit, 16-bit	< 8-bit, multiple

22	32-bit	32-bit, 16-bit, 8-bit	32-bit	18.2.7.12 – FLXA0FRNMV1


23	32-bit	32-bit, 16-bit, 8-bit	16-bit	18.2.6.2 – FLXA0FRSUCC2


24	32-bit	32-bit, 16-bit, 8-bit	8-bit	18.2.3.1 – FLXA0FRLCK


25	32-bit	32-bit, 16-bit, 8-bit	< 8-bit, single	18.2.2.1 – FLXA0FROC


26	32-bit	32-bit, 16-bit, 8-bit	< 8-bit, multiple, crossing byte boundaries	18.2.5.1 – FLXA0FRT0C


27	Multiple	32-bit, 16-bit, 8-bit		17.3.3 – RSCAN0C0CTR

28	Multiple	16-bit, 8-bit		16.3.3.2 – RLN30LBRP01

Note: The Excel file shows this split into two 8-bit named entries: LBRP0 and LBRP1, while the UM shows a single entry.

6 - Component Implementation

Component Implementation

Component Documentation

Specific Component Tools

MotCtrlMgr DataDictionary Tool User Guide.html

6.1 - MotCtrlMgr Integration Manual

Integration Manual

For

MotCtrlMgr

VERSION: 4

DATE: 05/18/17

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Lucas Wendling	1	05/29/15
2	Updates for Signal Mapping	Lucas Wendling	2	10/28/15
3	Updates describing tool that generates MotCtrlMgr configuration	Lucas Wendling	3	09/21/16
4	Added more notes about DMA write section mapping	Lucas Wendling	4	05/18/17

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description
DFD	Design functional diagram
MDD	Module design Document
	<ADD more to the table if applicable>

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	MDD Guidelines	Process 04.00.00
2	Software Naming Conventions	Process 04.00.00
3	Software Coding Standards	Process 04.00.00
4	AR300A_MotCtrlMgr_Design	See Synergy subproject version

Dependencies

SWCs

Module	Required Feature

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

MotCtrlMgrIrq – This is a category 1 interrupt (see details below)

Configuration REQUIREMeNTS

In addition to configuration based .c and .h files, the MotCtrlMgr generator will also generate a .m file data dictionary for MotCtrlMgr. In addition to documentation purposes, this data dictionary is intended to aid in the creation of the AUTOSAR SWC model that is required to be created for the MotCtrlMgr’s signal interface to the RTE. While the generator will create the RTE runnables and runnable contents automatically, the SWC model to be used in the AUTOSAR authoring tools (e.g. Davinci Developer) is not automatically created by the generator and will need either a separate tool to create, or will need to be manually created.

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

CDD_MotCtrlMgr.c

CDD_MotCtrlMgr_Data.c

CDD_MotCtrlMgr_Data.h

CDD_MotCtrlMgr_Irq.c

DaVinci Parameter Configuration Changes

Most of the configuration parameters in the table below are determined from extracted data from the component data dictionaries of a given project. This includes all of the motor control related runnables as well as all of the signals that interface to motor control related runnables (on either sender or receiver side).

The DataDictionary tool has been updated to support generation of the majority of the MotCtrlMgr configuration listed below. The inputs this tool requires is a project’s collection of component DataDictionaries, a signal mapping xml, as well as the latest FDD tool data management folder. The DataDictionary tool currently generates a .arxml file with all of the MotCtrlMgr configuration except the following parameters which still need to be manually populated:

/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders

/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder

The DataDictionary tool version which was used for testing of this component is embedded within this component’s baseline. This particular version of the tool is included mostly for reference purposes, and isn’t required to be used at an integration level for the actual generation of the MotCtrlMgr configuration so long as the version that is being used produces the correct output.

Parameter	Notes	SWC
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders	All of the includes that are required to provide runnable prototypes (e.g. “MyHeader.h”)	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable	All of the runnables that are required in a given project that run at the “MotorControl” or “MotorControlx2” Rate. The shortname needs to exactly match the runnable function name	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/RunnableRate	Selection of the rate at which the given runnable executes (MotorControl or MotorControlx2)	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder	Sequence order number to help define the ordering of the runnables relative to each other. Lower numbers are executed prior to higher numbers. Ordering does not need to be sequential, but it is recommended for clarity. Please note that if all MotorControlx2 runnables are not grouped together, there will be throughput inefficiencies.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/IncludeHeaders	All of the includes that may be required to provide signal initial values (e.g. “MyHeader.h”). This is possibly required if initial values are required to be tied to a global constant that is defined in a certain header for example.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum	All of the enumeration definitions required outside of the RTE. The short name needs to exactly match the desired enumeration name.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumImplementationDataType	Implementation Data Type of the given enumeration. Selection of the supported types of “uint8”, “uint16”, and “uint32”.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement	Elements of a given enumeration. The short name should be the enumeration element name.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement/Value	Numeric value of a given enumeration element	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping	Contains the configuration required for mapping differently named signals to eachother. This component specifically requires, at a minimum, all of the mapping of names related to signals that flow into, out of, or through the Motor Control runnables. Recommended “Short Name” of container is “<OutputSignal>Map”	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/OutputSignalName	Output signal name of signal needing mapping	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/InputSignalName	Input signal name (or names) of signal needing mapping. Note that it is allowed to map more than one input name to each output.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal	Contains the required details of a given signal. The short name should match the base signal name (excluding “MotCtrl” prefix)	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference	Selection of Enumeration (if applicable - this should only exist on signals that are enumerations). Enumeration needs to be added to “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum” configuration before it can be selected.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType	Selection of Implementation Data Type of signal. For enumerations, this should be selected to match the underlying enumeration datatype.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue	Initial Value, for arrays this should be a comma separated list (e.g. you would enter: 10,20,30,40). Suffixes of “F”, “U”, etc should be on appropriate signals as required.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Max	Maximum Value as indicated by m file defining signal.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Min	Minimum Value as indicated by m file defining signal.	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable	This flag indicates if a given signal is read in a runnable that runs at “MotorControl” or “MotorControlx2” rate	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable	This flag indicates if a given signal is read in a runnable that runs at 2ms (or slower) RTE task	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable	This flag indicates if a given signal is written in a runnable that runs at “MotorControl” or “MotorControlx2” rate	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable	This flag indicates if a given signal is written in a runnable that runs at 2ms (or slower) RTE task	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size	Size of signal. This needs to be 1 for standard signals and if greater than 1, the signal is considered to be an array	MotCtrlMgr
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Units	Units of signal as indicated by m file defining signal.	MotCtrlMgr

DaVinci Interrupt Configuration Changes

ISR Name	Interrupt Category (FE/EI)	Interrupt Channel Number	Priority Dependency	Notes
MotCtrlMgrIrq	EI	Needs to be gathered from program specific CM###_XXXXMcuCfg_Design component	Needs to be an appropriate priority for the high speed motor control interrupt	This ISR should be category 1 ISR and mapped to trusted application

Manual Configuration Changes

	Notes	SWC

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

This module defines all non-RTE motor control data structures

Required Global Data Outputs

This module defines all non-RTE motor control data structures

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger

Runnable	Scheduling Requirements	Trigger
MotCtrlMgrIrq	None	ISR – exact ISR source to be gathered from program specific CM###_XXXXMcuCfg_Design component
MotCtrlMgrPer1	MotCtrlMgrPer1 should execute near the start of the 2ms loop before any other functions that need data that is output by runnables running at the Motor Control rate. The DMA transfer that is populating MotCtrlMgr_TwoMilliSecFromMotCtrl_Rec shall run before MotCtrlMgrPer1 and ideally enough other functionality runs in-between these two events that the transfer can complete with minimal wait time in MotCtrlMgrPer1 (since this function is waiting for DMA transfer completion).	2ms RTE
MotCtrlMgrPer2	MotCtrlMgrPer2 should execute as the final function of the forward path to allow minimal lag on computation of new PWM commands in the Motor Control loop.	2ms RTE

.

Memory Map REQUIREMENTS

Mapping

Memory Section

Contents

Notes

MotCtrl_START_SEC_CODE

Interrupt code

This code section also includes a static function scope variable, and therefore needs to open and close variable mapping statements and this should be mapped to the same application that the ISR is mapped to.

CDD_MotCtrlMgr_DmaWrite_START_SEC_VAR_INIT_128

Data that a DMA channel writes to during run-time

This gets mapped to a “.data_dma_128” section and/or a “.sdata_dma_128” section (depending on compiler settings) that will need to be explicitly added to the linker file. The intent of these sections is to be placed in a RAM memory section that only the DMA has write access to (processor in user mode only has read access).

Additionally, since these are initialized data sections, the appropriate ROM sections will need to be added to the linker to allow initial values to be copied from Flash to RAM during startup for these sections.

e.g.:

.ROM_data_dma_128 ROM(.data_dma_128) FILL(0xFF) :{}>.

and

.ROM_sdata_dma_128 ROM(.sdata_dma_128) FILL(0xFF) :{}>.

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM

NvM Blocks

None

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

<This section is for appendix>

6.2 - MotCtrlMgr Review

Overview

Summary Sheet
Synergy Project

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR300A_MotCtrlMgr_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR300A_MotCtrlMgr_Impl_1.4.1

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Lucas Wendling

Work CR ID:

EA4#12182

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

No

MDD

No

Source Code

No

PolySpace

No

Integration Manual

No

Davinci Files

Comments:

Reviewed only generation batch file changes.

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Lucas Wendling

Review Date :

05/23/17

Lead Peer Reviewer:

Hari Mattupalli

Approved by Reviewer(s):

Yes

Other Reviewer(s):

6.3 - MotCtrlMgr_MDD

Module Design Document

For

MotCtrlMgr

VERSION: 2

DATE: 10/28/15

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial Version	Lucas Wendling	1	05/29/15
2	Updates for Signal Mapping	Lucas Wendling	2	10/28/15

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 MotCtrlMgr High-Level Description 6

4 Design details of software module 7

4.1 Graphical representation of MotCtrlMgr 7

4.2 Data Flow Diagram 7

4.2.1 Module level DFD 7

4.2.2 Sub-Module level DFD 7

4.3 COMPONENT FLOW DIAGRAM 7

5 Variable Data Dictionary 8

5.1 User defined typedef definition/declaration 8

5.2 Variable definition for enumerated types 8

6 Constant Data Dictionary 9

6.1 Program(fixed) Constants 9

6.1.1 Embedded Constants 9

6.1.1.1 Local 9

6.1.1.2 Global 9

6.1.2 Module specific Lookup Tables Constants 9

7 Software Module Implementation 10

7.1 Generated file description and logic 10

7.2 Initialization Functions 13

7.3 PERIODIC FUNCTIONS 13

7.3.1 Per1/Per2: 13

7.4 Non PERIODIC FUNCTIONS 13

7.5 Interrupt Functions 13

7.5.1 Isr: <ModuleName>_Isr<n)> 13

7.6 Serial Communication Functions 14

7.7 Local Function/Macro Definitions 14

7.8 GLObAL Function/Macro Definitions 14

7.9 TRANSIENT FUNCTIONS 14

8 Unit Test Considerations 15

9 Known Limitations With Design 16

10 Appendix 17

Abbrevations And Acronyms

Abbreviation	Description
DFD	Design functional diagram
MDD	Module design Document
	<ADD more to the table if applicable>

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	MDD Guidelines	Process 04.00.00
2	Software Naming Conventions	Process 04.00.00
3	Software Coding Standards	Process 04.00.00
4	AR300A_MotCtrlMgr_Design	See Synergy subproject version

MotCtrlMgr High-Level Description

None

Design details of software module

<This section documents any user types uniquely used for the module.>

Typedef Name	Element Name	User Defined Type	Legal Range (min)	Legal Range (max)
MotCtrlToTwoMilliSecRec1	Elements are project specific and generated	struct
TwoMilliSecFromMotCtrlRec1	Elements are project specific and generated	struct
TwoMilliSecToMotCtrlRec1	Elements are project specific and generated	struct
MotCtrlFromTwoMilliSecRec1	Elements are project specific and generated	struct
MotCtrlIntRec1	Elements are project specific and generated	struct

Variable definition for enumerated types

Enum Name	Element Name	Value
Enumerations are project specific and generated

Constant Data Dictionary

Program(fixed) Constants

Embedded Constants

Local

Constant Name	Resolution	Units	Value
N/A

Global

Constant Name

N/A

Module specific Lookup Tables Constants

Constant Name	Resolution	Value	Software Segment
N/A

Software Module Implementation

Generated file description and logic

The following sections provide details on the logic used for generating the data and functions from the MotCtrlMgr configuration. The generator uses text templating to generate the appropriate file content based on the configuration details. The logic described in the following sections are implemented in the text template files provided in this component.

CDD_MotCtrlMgr_Irq.c

This file contains the definition of the interrupt service routine that Motor Control Manager defines. This interrupt service routine primarily contains a task list for executing runnables that are required to be scheduled at the motor control rate or motor control x2 rate. The following table lists the configuration parameters that are required in generation of this file:

Configuration Parameter	File Generation Usage Notes
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable	Used to determine the runnables needed to be called in the ISR task list
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/RunnableRate	Used to determine if runnable needs to be called every ISR loop (MotorControl) or every other ISR loop (MotorControlx2)
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/IncludeHeaders	Used for include list required for this file for runnable prototype definitions
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/RunnableManagement/Runnable/SequenceOrder	Used to help define the relative calling sequence of the runnables in the ISR task list

CDD_MotCtrlMgr.c

This file contains the functions for the RTE interface. This file will receive appropriate signals from the RTE and provide appropriate signals to the RTE. Per1 provides updated signals to the RTE after the DMA transfer of the data successfully completed, and Per2 recieves signals from the RTE and then indicates to the DMA that the data is ready for transfer.

Configuration Parameter	File Generation Usage Notes
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal	Used for the name of the signals being read/written by the runnables being defined.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable	Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable” to determine when a signal is needed to be managed by Per1
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable	Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable” to determine when a signal is needed to be managed by Per1
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable	Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable” to determine when a signal is needed to be managed by Per2
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable	Used in conjuction with “/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable” to determine when a signal is needed to be managed by Per2
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size	Used to determine if the signals being read/written by the runnables being defined are arrays (Impacts RTE API name).
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType	Used to determine if the signals being read/written by the runnables being defined are boolean types (Impacts RTE API name).

CDD_MotCtrlMgr_Data.c

This file contains the definition of all of the structures containing the Motor Control ISR related signals. This includes providing initial values for all of the signals in the structure and padding the structure for proper structure size alignment restrictions.

Configuration Parameter	File Generation Usage Notes
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal	Used to determine signal names as part of the logic to determine if special grouping is needed for TSG3 signals
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable	Used to determine which initial values are needed in which structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable	Used to determine which initial values are needed in which structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable	Used to determine which initial values are needed in which structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable	Used to determine which initial values are needed in which structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size	Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. Used also to add the appropriate braces for arrays on structure elements.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType	Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue	Used as the initializer value for a given signal in the structure
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/IncludeHeaders	Used for include list required for this file for definition of any intial values that may be required

CDD_MotCtrlMgr_Data.h

This file defines the structure definition of the Motor Control Data structures containing all Motor Control ISR related signals. It also defines any enumerations that need to be accessed by Non-RTE related code. Prototype statements for all Motor Control Data structures are included in this file as well as the macros defined for accessing individual signals of the Motor Control Data structures.

Configuration Parameter	File Generation Usage Notes
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum	Used to define enumeration accessed by Non-RTE related code. Used for enumeration name.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumImplementationDataType	Used to define enumeration accessed by Non-RTE related code. Used for enumeration datatype.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement	Used to define enumeration accessed by Non-RTE related code. Used for enumeration element name.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/NonRteEnum/EnumElement/Value	Used to define enumeration accessed by Non-RTE related code. Used for enumeration element value.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal	Used to determine signal names as part of the logic to determine if special grouping is needed for TSG3 signals. Also used as signal name for structure element definitions. Used to also determine name of signal access macros that are generated.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenInMotCtrlRunnable	Used to determine the structure the signal should be added to.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable	Used to determine the structure the signal should be added to
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable	Used to determine the structure the signal should be added to
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadInMotCtrlRunnable	Used to determine the structure the signal should be added to
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType	Used to determine datatype of structure element. Also used as part of the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference	Used to determine if a given signal is an enumeration and used to determine the corresponding enumeration name
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size	Used in the structure size calculation to determine how many pad bytes are needed for alignment at the end of the structure. Used also to add the appropriate array size on signals that are arrays (having size > 1).
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping	Used for creation of motor control signal access macros for inputs that are named differently than outputs
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/OutputSignalName	Output name for signal mapping (used to define an input signal macro definition)
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/SignalMapping/InputSignalName	Input name(s) for signal mapping (used to define the names of the signal macros)

AR300A_MotCtrlMgr_DataDict.m

This file is the generated data dictionary for MotCtrlMgr. This is intended to be used for documentation purposes as well as to aid in creating the AUTOSAR component description files.

Configuration Parameter	File Generation Usage Notes
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal	Used to determine signal name for I/O depending on signal useage.
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ImplementationDataType	Used to determine datatype of signal. Also used for stripping off c constant qualification (“U”, “L”, “F”) on standard datatypes that is assumed to be present in the initial value. Also used to convert boolean type initial values to “0/1” from “TRUE/FALSE”
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/EnumerationNameReference	Used to determine if a given signal is an enumeration and used to determine the corresponding enumeration name
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/InitialValue	Used for the initial value of a signal
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Size	Used to determine if the signal is an array and to set the format of the initial value appropriately
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/ReadIn2msRunnable	Used to determine if signal is an output from Per1 runnable
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/WrittenIn2msRunnable	Used to determine if signal is an input to Per2 runnable
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Max	Used for Maximum value property of signal
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Min	Used for Minimum value property of signal
/Nexteer/MotCtrlMgr/MotCtrlMgrConfigSet/SignalManagement/Signal/Units	Used for units property of signal

Initialization Functions

None

PERIODIC FUNCTIONS

Per1/Per2:

See section 7.1.2

Non PERIODIC FUNCTIONS

None

Interrupt Functions

Isr:

See section 7.1.1

Serial Communication Functions

None

Local Function/Macro Definitions

None

GLObAL Function/Macro Definitions

None

TRANSIENT FUNCTIONS

None

Unit Test Considerations

Known Limitations With Design

None

Appendix

6.4 - MotCtrlMgr DataDictionary Tool User Guide

Purpose

This document provides details on using the DataDictionary.exe tool for generating and testing the MotCtrlMgr component.

Overview

The MotCtrlMgr component is a project specific, highly configurable component. The majority of the configuration parameters of the component, however, can be derived from analysis of the collection of data dictionaries that exist within any given project. A tool was created (DataDictionary.exe) to create a file which contains the bulk of the MotCtrlMgr configuration which can subsequently be imported into the AUTOSAR Configuration Tools (Davinci Configurator). While this tool can primarily be used at a project configuration level, it also is used at a component level in the MotCtrlMgr component. The usage at a component level serves two primary purposes:

Generation of the majority of the MotCtrlMgr “test” configuration.

MotCtrlMgr component defines a “test” configuration. This test configuration is used for several purposes:

To exercise the .bswmd file containing the configuration parameters of MotCtrlMgr (for property correctness and Davinci Configuration compatibility)
To test for the proper/successful generation of the MotCtrlMgr component’s generated configuration files
To generate test files of all generated files of this component used to run static analysis checks on the generated file output, provide the possibility for unit testing of the generated files, and test compilation of the generated files.

Test of the DataDictionary.exe tool output.

Since the DataDictionary.exe tool is used at a project level with files that will change from project to project as needed, it is useful to have a fixed, known set of test files as inputs to the tool to test that the tool is providing the correct output with a known set of inputs. These input files can also be tailored to test different combinations of input scenarios to try to provide a robust set of test inputs to the tool.

Usage Steps for MotCtrlMgr Component Development

Unzip TestDataManagement.zip file into AR300A_MotCtrlMgr_Impl\tools\local\tools\DataDictionary directory

This is needed since Telelogic synergy can’t currently recognize some of the folder names that are in this directory.

Update Data Dictionary input files in AR300A_MotCtrlMgr_Impl\tools\local\tools\DataDictionary directory

This step is required if there are new or changed configurations that need to be tested. This step would be manually changing the .m files to add or change the configuration or this could also be done with the aid of matlab data dictionary tools.
Note: if new configurations include new/changed enumerations, these enumerations will need to be manually added into the “TestDataManagement” folder that was unzipped in step 1. And this update will need to be re-zipped for check-in to Synergy.
Note: if the new configurations include new signal mappings, the Mappings.xml file will need to be manually updated in the AR300A_MotCtrlMgr_Impl\tools\local\tools\DataDictionary directory.

Rerun tool: TL117A_DataDict\toolsDataDictionary.exe to create new configuration file needed for the next step
1. Select “Cals” option from initial Data Dictionary tool options:

Select proper tools settings for generation of MotCtrlMgr configuration file. (note file paths may not be exactly the same as listed below):

Select “Generate” option in tool to create MotCtrlMgr.arxml configuration file.

Import MotCtrlMgr.arxml into MotCtrlMgr component Davinci Configurator project.

Notes: It is suggested to remove all configuration containers manually from the old configuration before importing the updated configuration. This allows easier import to ensure that older configuration is fully removed. Otherwise, much more care needs to be taken during the merge process to fully replace older configuration with newer configuration. Additionally, the configuration file does not contain runnable sequence number or header file include needs. These parameters will have to manually be filled out after the import process is complete (or the old configuration settings for these parameters can be kept).

Generate MotCtrlMgr component in Davinci Configurator.
Update Davinci Developer component for any updates needed from configuration changes.

The Davinci Developer component is manually maintained for MotCtrlMgr even though the source code for this component is generated. This component needs to be setup properly for any signals that flow between the MotCtrl Interrupt and RTE tasks. Any changes to Data Dictionary input files (new or changed signals) need to be updated in the Davinci Developer component. As a tip, the component needs to be properly configured to align with the content in AR300A_MotCtrlMgr_Impl\tools\local\generate\CDD_MotCtrlMgr.c file.

Regenerate RTE contract headers for Davinci Developer component.

This step is done through the Davinci Configurator custom workflow steps that are configured in Davinci Configurator.

7 - Component Implementation

Component Implementation

Component Documentation

7.1 - NxtrDet Integration Manual

Integration Manual

For

NxtrDet

VERSION: 1

DATE: 10/07/15

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Lucas Wendling	1	10/07/15

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description
DFD	Design functional diagram
MDD	Module design Document
FDD	Functional Design Document

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	FDD – AR998A NxtrDet Design	See Synergy subproject version
2	Software Naming Conventions	Process 04.02.00
3	Software Coding Standards	Process 04.02.00

Dependencies

SWCs

Module	Required Feature
Det	Entire Module – NxtrDet is a component that manages the Det errors that are defined by Nexteer SWCs. The AUTOSAR Det module is required for NxtrDet functionality.

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

None

Configuration REQUIREMeNTS

NxtrDet functionality defaults in a manner in which it will automatically enable all of the defined Nexteer Det errors when the global Det Enable flag is turned on. It is assumed that as needed, a project could selectively disable certain Nexteer Det errors if needed, but this currently would have to be managed either by alteration of the NxtrDet.h component header directly for the Det enabled build, or by an integration project pointing to its own integration specific version of NxtrDet.h.

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes

Manual Configuration Changes

Constant	Notes	SWC
None

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

None

Required Global Data Outputs

None

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
None

Runnable	Scheduling Requirements	Trigger
None

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM

Table 1: ARM Cortex R4 Memory Usage

NvM Blocks

*See DataDict.m

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

<This section is for appendix>

7.2 - NxtrDet Module Design Document

Module Design Document

For

NxtrDet

Oct 6, 2015

Prepared For:

Software Engineering

Nexteer Automotive,

Saginaw, MI, USA

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA
Change History

Description	Author	Version	Date
Initial Version	Lucas Wendling	1	10/06/15

Table of Contents

1 Introduction 4

1.1 Purpose 4

1.2 Scope 4

2 NxtrDet High-Level Description 5

3 Design details of software module 6

3.1 Graphical representation of NxtrDet 6

3.2 Data Flow Diagram 6

3.2.1 Component level DFD 6

3.2.2 Function level DFD 6

4 Constant Data Dictionary 7

4.1 Program (fixed) Constants 7

4.1.1 Embedded Constants 7

5 Software Component Implementation 8

5.1 Sub-Module Functions 8

5.1.1 Init: NxtrDet 8

5.1.2 Per: NxtrDet 8

5.2 Server Runables 8

5.3 Interrupt Functions 8

5.4 Module Internal (Local) Functions 8

5.4.1 Local Function #1 8

5.4.1.1 Design Rationale 8

5.4.1.2 Processing 8

5.5 GLOBAL Function/Macro Definitions 8

5.5.1 GLOBAL Function #1 8

5.5.1.1 Design Rationale 8

5.5.1.2 Processing 8

6 Known Limitations with Design 10

7 UNIT TEST CONSIDERATION 11

Appendix A Abbreviations and Acronyms 12

Appendix B Glossary 13

Appendix C References 14

Introduction

Purpose

Scope

The following definitions are used throughout this document:

Shall: indicates a mandatory requirement without exception in compliance.
Should: indicates a mandatory requirement; exceptions allowed only with documented justification.
May: indicates an optional action.

NxtrDet High-Level Description

See FDD

Design details of software module

Graphical representation of NxtrDet

None

Data Flow Diagram

Component level DFD

N/A

Function level DFD

N/A

Constant Data Dictionary

Program (fixed) Constants

Embedded Constants

Constants containing the Nexteer ModuleIDs defined for Det functionality are defined in the .m file included in the doc folder of this component. This is to allow new SWCs adding new Det errors to not drive changes to the design project, only to the implementation project.

Local Constants

Constant Name	Resolution	Units	Value
None

Software Component Implementation

Sub-Module Functions

Init: NxtrDet

None

Per: NxtrDet

None

Server Runables

None

Interrupt Functions

None

Module Internal (Local) Functions

Local Function #1

Function Name	(Exact name used)	Type	Min	Max
Arguments Passed	None	<Refer MDD guidelines[1]>	<Refer MDD guidelines[1]>	<Refer MDD guidelines[1]>

Return Value

Design Rationale

Processing

GLOBAL Function/Macro Definitions

GLOBAL Function #1

Function Name	(Exact name used)	Type	Min	Max
Arguments Passed	None	<Refer MDD guidelines[1]>	<Refer MDD guidelines[1]>	<Refer MDD guidelines[1]>

Return Value

Design Rationale

Processing

Known Limitations with Design

None

UNIT TEST CONSIDERATION

None

Abbreviations and Acronyms

Abbreviation or Acronym	Description

Glossary

Note: Terms and definitions from the source “Nexteer Automotive” take precedence over all other definitions of the same term. Terms and definitions from the source “Nexteer Automotive” are formulated from multiple sources, including the following:

ISO 9000
ISO/IEC 12207
ISO/IEC 15504
Automotive SPICE® Process Reference Model (PRM)
Automotive SPICE® Process Assessment Model (PAM)
ISO/IEC 15288
ISO 26262
IEEE Standards
SWEBOK
PMBOK
Existing Nexteer Automotive documentation

Term	Definition	Source
MDD	Module Design Document
DFD	Data Flow Diagram

References

Ref. #	Title	Version
1	AUTOSAR Specification of Memory Mapping (Link:AUTOSAR_SWS_MemoryMapping.pdf)	v1.3.0 R4.0 Rev 2
2	MDD Guideline	EA4 01.00.00
3	Software Naming Conventions.doc	1.0
4	Software Design and Coding Standards.doc	2.0

7.3 - NxtrDet Peer Review Checklists

Overview

Summary Sheet
Synergy Project
Source Code
PolySpace

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR998A_NxtrDet_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR998A_NxtrDet_Impl_1.2.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Akilan Rathakrishnan

Work CR ID:

EA4#9291

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

N/A

MDD

Yes

Source Code

Yes

PolySpace

N/A

Integration Manual

N/A

Davinci Files

Comments:

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Akilan Rathakrishnan

Review Date :

01/18/17

Lead Peer Reviewer:

Spandana Balani

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Lucas Wendling

Sheet 3: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

N/A

Source File Revision:

N/A

Header File Name:

NxtrDet.h

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 3

MDD Name:

NxtrDet Module Design Document

Revision:

1

FDD/SCIR/DSR/FDR/CM Name:

AR998A_NxtrDet_Design

Revision:

1.0.0

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

N/A

Comments:

for constant names

Yes

Comments:

for function names

N/A

Comments:

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

N/A

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Component.h is included

N/A

Comments:

All other includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version:

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

N/A

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

N/A

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

N/A

Comments:

finite loop iterations: [N63]

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

N/A

Comments:

null pointer if needed: [N70]

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

N/A

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments: List Anomaly or CR numbers

for any FDD corrections needed

General Notes / Comments:

Header file only

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Akilan Rathakrishnan

Review Date :

01/18/17

Lead Peer Reviewer:

Spandana Balani

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Lucas Wendling

Sheet 4: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

NxtrDet_StaticAnalysisStub.c

Source File Revision:

2

Source File Name:

Source File Revision:

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

01.00.00

Poly Space version:

Windows User: eg. 2013b 2013b

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 N/A

QAC version:

Windows User: eg 8.1.1-R 8.1.1-R

QAC sub project version:

Windows User: eg. TL_100A_1.1.0 TL100A_QACSuprt_1.2.0

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

for all functions in the component per Design

and Coding Standards rule [N47]

General Notes / Comments:

Stub c file used to make use of header constants

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Akilan Rathakrishnan

Review Date :

01/18/17

Lead Peer Reviewer:

Spandana Balani

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Lucas Wendling

8 - Component Implementation

Component Implementation

Component Documentation

8.1 - NxtrFil Integration Manual

Integration Manual

For

NxtrFil

VERSION: 1.0

DATE: 03/02/2015

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	K. Creager	1.0	03/02/15

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	Working EA4 naming Conventions[1]	Temp
2	AutoSAR and Nexteer KeyWord Abbreviations list[1]	Temp

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

FilLpUpdGain()

FilLpUpdOutp_f32()

FilLpInit()

FilHpUpdGain()

FilHpUpdOutp_f32()

FilHpInit()

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

N/A

Required Global Data Outputs

N/A

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

Runnable	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
None

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
None

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

[1] – No official document released for EA4.0 for this document’s revision.

8.2 - NxtrFil Review

Overview

Summary Sheet
Source Code - initial review
Source Code -rework review
QAC - initial review
QAC - rework review
Integration Manual

Sheet 1: Summary Sheet

Rev 6.0

28-Oct-14

Peer Review Summary Sheet

Component Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. NxtrFil

Component Revision:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. 1.0.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Kathleen Creager

Change Request ID:

EA4#166

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

MDD

Source Code

Data Dictionary

QAC

Integration Manual

Davinci Files

Comments:

MDD not created -- design information will be in the AR104A_Design

integration manual not ready at initial peer review but is needed before final review

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. (Note: If this peer review form was not
completed for pervious versions of this component, the Change Owner should review the entire component and complete the checklist in its entirety prior and check
the form into Syngery. This may be done prior to reviewing the modifications for this Change Result)
- The Change Owner shall responsible for completing the entire checklist (Pre and Group review items) prior holding the initial group review.
- New components should include FDD Owner and Intergator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Select "Yes" and add "N/A" to the comments for checklist items that are not applicable for this change

Sheet 2: Source Code - initial review

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFil.h

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 1

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD NA

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD NA

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the source file review. Rationale: Needed for traceability between source code and DD NA

FDD/SER/CMS

and Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER AR104A design not yet created

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review checklist for change owners

Software Naming Convention V1.2 followed:

for variable names

X

Comments:

EA4 naming conventions

for constant names

X

Comments:

EA4 naming conventions

for function names

X

Comments:

add _f32 to functions that return float32

for other names (component, memory

X

Comments:

memory names need NxtrFil instead of NXTRFIL

mapping handles, typedefs, etc.)

All buffered outputs written in every path, i.e. no

X

Comments:

N/A

possibility of an uninitialized value being written

Group-review Checklist (review board)

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

X

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

X

Comments:

and CR number

Code accurately implements FDD (Document or Model)

X

Comments:

FDD not created yet

implementation matches EA3 macro implementation

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

X

Comments:

FDD test points exist as display variables: declared

X

Comments:

N/A

static volatile, written once and never used, names

match the FDD

Software Design and Coding Standards V2.0 followed:

Code comments are clear, correct, and adequate

X

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

X

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

X

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

X

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

X

Comments:

"magic numbers": [N12]

All variables and constants defined at module

X

Comments:

N/A

level are included in appropriate MemMap

section: [N25] and Naming Conventions

All execution-order-dependent code can be

X

Comments:

N/A

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

X

Comments:

N/A

No possibility of divide by zero: [N65]

X

Comments:

logic prevents divide by zero

All integer division and modulus operations

X

Comments:

N/A

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

X

Comments:

N/A

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

X

Comments:

N/A

point value to an unsigned type: [N67]

All conversions between signed and unsigned

X

Comments:

N/A

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

X

Comments:

design limitation - pointer parameters

pointer: [N70]

must have non-null values

Global outputs (RTE and Non-RTE) Initialized:

X

Comments:

N/A

[N24]

Module outputs are limited to the legal range

X

Comments:

N/A

defined in the FDD Data dictionary: [N53]

All code is mapped with FDD (all FDD

X

Comments:

to be added in later rev, after FDD and

subfunctions and/or model blocks identified

FRs are created

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Struct types used for NvM have

X

Comments:

N/A

elements declared in decreasing order by size

and are not nested or used in arrays: [N84], [N85]

No violations of other coding standard rules

X

Comments:

identified during review

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kathleen Creager

Review Date :

02/27/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Other Reviewer(s):

Lucas Wendling

Sheet 3: Source Code -rework review

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFil.h

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 1

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD NA

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD NA

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the source file review. Rationale: Needed for traceability between source code and DD NA

FDD/SER/CMS

and Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER AR104A design not yet created

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review checklist for change owners

Software Naming Convention V1.2 followed:

for variable names

X

Comments:

EA4 naming conventions

for constant names

X

Comments:

EA4 naming conventions

for function names

X

Comments:

for other names (component, memory

X

Comments:

mapping handles, typedefs, etc.)

All buffered outputs written in every path, i.e. no

X

Comments:

N/A

possibility of an uninitialized value being written

Group-review Checklist (review board)

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

X

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

X

Comments:

and CR number

Code accurately implements FDD (Document or Model)

X

Comments:

FDD not created yet

implementation matches EA3 macro implementation

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

X

Comments:

FDD test points exist as display variables: declared

X

Comments:

N/A

static volatile, written once and never used, names

match the FDD

Software Design and Coding Standards V2.0 followed:

Code comments are clear, correct, and adequate

X

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

X

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

X

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

X

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

X

Comments:

"magic numbers": [N12]

All variables and constants defined at module

X

Comments:

N/A

level are included in appropriate MemMap

section: [N25] and Naming Conventions

All execution-order-dependent code can be

X

Comments:

N/A

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

X

Comments:

N/A

No possibility of divide by zero: [N65]

X

Comments:

logic prevents divide by zero

All integer division and modulus operations

X

Comments:

N/A

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

X

Comments:

N/A

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

X

Comments:

N/A

point value to an unsigned type: [N67]

All conversions between signed and unsigned

X

Comments:

N/A

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

X

Comments:

documented in usage notes

pointer: [N70]

no run-time check for throughput reasons

Global outputs (RTE and Non-RTE) Initialized:

X

Comments:

N/A

[N24]

Module outputs are limited to the legal range

X

Comments:

N/A

defined in the FDD Data dictionary: [N53]

All code is mapped with FDD (all FDD

X

Comments:

to be added in later rev, after FDD and

subfunctions and/or model blocks identified

FRs are created

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Struct types used for NvM have

X

Comments:

N/A

elements declared in decreasing order by size

and are not nested or used in arrays: [N84], [N85]

No violations of other coding standard rules

X

Comments:

identified during review

General Notes / Comments:

reviewed after rework from initial review (rework done: _f32 added to function names of functions that return float32; capitalization corrected on memory mapping

names; design limitation regarding no checking for null pointers added as usage note in function comment blocks, to be added to design component when created)

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kathleen Creager

Review Date :

03/03/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: QAC - initial review

Rev 6.0

28-Oct-14

Peer Review Meeting Log (QAC Review)

Module Name:

kzshz2: Intended Use: Identify which .c file is being analyzed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFil.h

Source File Revision:

1

Module

1

of

1

Compliance Guidelines Version:

EA4 working

kzshz2: Intended Use: Identify specific changes in results (new violation present, previous violation corrected, etc.). Changes to the version of the tool or the way the results were gathered should be described here also. This should be filled out prior to the review by the change owner. Rationale: Gives reviewers an what needs to be focused on. Forces the change owner to compare with previous results to catch any differences that may otherwise go unoticed Brief Summary of Changes (In Results or Tool):

Used NxtrFil_TestHarness.c (in tools folder) for QAC and Polyspace analysis of the NxtrFil.h file.

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review
checklist for change owners

QAC version is correct and did not change (List version)

kzshz2: Intended Use: Identify which version of the QAC Subproject was used and if any of the personalities may have changed. Rationale: Will help ensure this is factored into evaluating the results

X

Comments:

1.0.0

component-specific QAC and Polyspace files needed

in order to see warnings on this library header file

(see tools folder)

Contract Folder's header files are appropriate

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

X

Comments:

needs rework due to function name changes

Group-review Checklist (review board)

100% Compliance to the MISRA Compliance Guidelines

X

Comments:

Polyspace gives MISRA warning 21.1

for possible null pointer dereference; see comments below

Cyclomatic complexity and Static path count ok per

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

X

Comments:

Design and Coding Standards rule [N47]

General Notes / Comments:

waiting for Polyspace guidelines before using deviation comments for Polyspace-only MISRA warnings. The null pointer warning should not show up when running

Polyspace on an integration project.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kathleen Creager

Review Date :

02/27/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Other Reviewer(s):

Lucas Wendling

Sheet 5: QAC - rework review

Rev 6.0

28-Oct-14

Peer Review Meeting Log (QAC Review)

Module Name:

kzshz2: Intended Use: Identify which .c file is being analyzed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFil.h

Source File Revision:

1

Module

1

of

1

Compliance Guidelines Version:

EA4 working

kzshz2: Intended Use: Identify specific changes in results (new violation present, previous violation corrected, etc.). Changes to the version of the tool or the way the results were gathered should be described here also. This should be filled out prior to the review by the change owner. Rationale: Gives reviewers an what needs to be focused on. Forces the change owner to compare with previous results to catch any differences that may otherwise go unoticed Brief Summary of Changes (In Results or Tool):

Used NxtrFil_TestHarness.c (in tools folder) for QAC and Polyspace analysis of the NxtrFil.h file.

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review
checklist for change owners

QAC version is correct and did not change (List version)

kzshz2: Intended Use: Identify which version of the QAC Subproject was used and if any of the personalities may have changed. Rationale: Will help ensure this is factored into evaluating the results

X

Comments:

1.0.0

component-specific QAC and Polyspace files needed

in order to see warnings on this library header file

(see tools folder)

Contract Folder's header files are appropriate

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

X

Comments:

Group-review Checklist (review board)

100% Compliance to the MISRA Compliance Guidelines

X

Comments:

Polyspace gives MISRA warning 21.1

for possible null pointer dereference; see comments below

Cyclomatic complexity and Static path count ok per

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

X

Comments:

Design and Coding Standards rule [N47]

General Notes / Comments:

re-run and re-reviewed after source code and contract folder file rework from initial review

waiting for Polyspace guidelines before using deviation comments for Polyspace-only MISRA warnings. The null pointer warning should not show up when running

Polyspace on an integration project. Usaage notes in function comment blocks document the design limitation.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kathleen Creager

Review Date :

03/03/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 6: Integration Manual

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

kzshz2: Intended Use: Identify which file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFil Integration Manual

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 1

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Group-review Checklist (review board)

Synergy version matches header

X

Comments:

Latest template used

X

Comments:

Change log contains detailed description of changes

X

Comments:

NA

Changes Highlighted (for Integrator)

X

Comments:

NA

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Kathleen Creager

Review Date :

03/03/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

9 - Component Implementation

Component Implementation

Component Documentation

9.1 - NxtrFixdPt Integration Manual

Integration Manual

For

NxtrFixdPt

VERSION: 1.2

DATE: 13/02/2015

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Selva Sengottaiyan	1.0	02/13/15

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	Working EA4 naming Conventions[1]	Temp
2	AutoSAR and Nexteer KeyWord Abbreviations list[1]	Temp

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

FloatToFixdWithRound_s16_f32()

FloatToFixdWithRound_s32_f32()

FloatToFixdWithRound_u16_f32()

FloatToFixdWithRound_u32_f32()

FloatToFixd_s16_f32()

FloatToFixd_s32_f32()

FloatToFixd_u16_f32()

FloatToFixd_u32_f32()

FixdToFloat_f32_s16()

FixdToFloat_f32_s32()

FixdToFloat_f32_u16()

FixdToFloat_f32_u32()

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

N/A

Required Global Data Outputs

N/A

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

Runnable	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
None

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
None

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

[1] – No official document released for EA4.0.

9.2 - NxtrFixdPt Review

Overview

Summary Sheet
Source Code
QAC
Integration Manual

Sheet 1: Summary Sheet

Rev 6.0

28-Oct-14

Peer Review Summary Sheet

Component Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. NxtrFixdPt

Component Revision:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR103A_NxtrFixdPt

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Selva Sengottaiyan

Change Request ID:

EA4#139

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

MDD

X

Source Code

Data Dictionary

X

QAC

X

Integration Manual

Davinci Files

Comments:

No MDDfor v1

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. (Note: If this peer review form was not
completed for pervious versions of this component, the Change Owner should review the entire component and complete the checklist in its entirety prior and check
the form into Syngery. This may be done prior to reviewing the modifications for this Change Result)
- The Change Owner shall responsible for completing the entire checklist (Pre and Group review items) prior holding the initial group review.
- New components should include FDD Owner and Intergator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Select "Yes" and add "N/A" to the comments for checklist items that are not applicable for this change

Sheet 2: Source Code

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFixdPt.h

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 1

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the source file review. Rationale: Needed for traceability between source code and DD N/A

FDD/SER/CMS

and Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER N/A

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review checklist for change owners

Software Naming Convention V1.2 followed:

for variable names

X

Comments: Per working EA4 Naming Conventions

for constant names

X

Comments: Per working EA4 Naming Conventions

for function names

X

Comments: Per working EA4 Naming Conventions

for other names (component, memory

X

Comments: Per working EA4 Naming Conventions

mapping handles, typedefs, etc.)

All buffered outputs written in every path, i.e. no

X

Comments: N/A

possibility of an uninitialized value being written

Group-review Checklist (review board)

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

X

Comments:

and CR number

Code accurately implements FDD (Document or Model)

X

Comments:

No FDD Currently Available

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

X

Comments:

Component only has header file

FDD test points exist as display variables: declared

X

Comments: N/A

static volatile, written once and never used, names

match the FDD

Software Design and Coding Standards V2.0 followed:

Code comments are clear, correct, and adequate

X

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

X

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

X

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

X

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

X

Comments:

"magic numbers": [N12]

All variables and constants defined at module

X

Comments: N/A for inline functions

level are included in appropriate MemMap

section: [N25] and Naming Conventions

All execution-order-dependent code can be

X

Comments:

N/A

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

X

Comments:

N/A

No possibility of divide by zero: [N65]

X

Comments:

N/A

All integer division and modulus operations

X

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

X

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

X

Comments:

If the input arguments are not followed based on the rules. There is possibility for unexpected results

point value to an unsigned type: [N67]

All conversions between signed and unsigned

X

Comments:

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

X

Comments: N/A

pointer: [N70]

Global outputs (RTE and Non-RTE) Initialized:

X

Comments: N/A

[N24]

Module outputs are limited to the legal range

X

Comments: N/A

defined in the FDD Data dictionary: [N53]

All code is mapped with FDD (all FDD

X

Comments: No FDD Available

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Struct types used for NvM have

X

Comments: N/A

elements declared in decreasing order by size

and are not nested or used in arrays: [N84], [N85]

No violations of other coding standard rules

X

Comments:

identified during review

General Notes / Comments:

~~Mplr for mutiplier~~

~~Remove 1 from the inp and mplr1~~

~~add the usage notes as comments ie input range~~

~~run polyspace and QAC~~

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Selva Sengottaiyan

Review Date :

02/13/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Lucas Wendling

Kathleen Creager

Sheet 3: QAC

Rev 6.0

28-Oct-14

Peer Review Meeting Log (QAC Review)

Module Name:

kzshz2: Intended Use: Identify which .c file is being analyzed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFixdPt.h

Source File Revision:

1

Module

1

of

1

Compliance Guidelines Version:

N/A

kzshz2: Intended Use: Identify specific changes in results (new violation present, previous violation corrected, etc.). Changes to the version of the tool or the way the results were gathered should be described here also. This should be filled out prior to the review by the change owner. Rationale: Gives reviewers an what needs to be focused on. Forces the change owner to compare with previous results to catch any differences that may otherwise go unoticed Brief Summary of Changes (In Results or Tool):

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review
checklist for change owners

QAC version is correct and did not change (List version)

kzshz2: Intended Use: Identify which version of the QAC Subproject was used and if any of the personalities may have changed. Rationale: Will help ensure this is factored into evaluating the results

X

Comments:

Using working EA4 version plus special analyzer file which was reviewed

Contract Folder's header files are appropriate

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

X

Comments:

Group-review Checklist (review board)

100% Compliance to the MISRA Compliance Guidelines

X

Comments:

Approved deviations for 8.5 and 1.1

Cyclomatic complexity and Static path count ok per

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

X

Comments:

Design and Coding Standards rule [N47]

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Selva Sengottaiyan

Review Date :

02/13/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: Integration Manual

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

kzshz2: Intended Use: Identify which file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrFixdPt Integration Manual

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 1

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Group-review Checklist (review board)

Synergy version matches header

X

Comments:

Latest template used

X

Comments:

Change log contains detailed description of changes

X

Comments:

Changes Highlighted (for Integrator)

X

Comments:

Initial version

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Selva Sengottaiyan

Review Date :

02/13/15

Lead Peer Reviewer:

Kevin Smith

Approved by Reviewer(s):

Yes

Other Reviewer(s):

10 - Component Implementation

Component Implementation

Component Documentation

10.1 - NxtrIntrpn Integration Manual

Integration Manual

For

NxtrIntrpn

VERSION: 1.0

DATE: 02/19/2015

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	K. Smith	1.0	02/19/15

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	Working EA4 naming Conventions[1]	Temp
2	AutoSAR and Nexteer KeyWord Abbreviations list[1]	Temp

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

LnrIntrpn_u16_u16FixdXu16VariY()

LnrIntrpn_s16_u16FixdXs16VariY()

LnrIntrpn_u16_u16VariXu16VariY()

LnrIntrpn_u16_s16VariXu16VariY()

LnrIntrpn_s16_s16VariXs16VariY()

LnrIntrpn_s16_u16VariXs16VariY()

LnrIntrpnWithRound_u16_u16FixdXu16VariY()

LnrIntrpnWithRound_s16_u16FixdXs16VariY()

LnrIntrpnWithRound_u16_u16VariXu16VariY()

LnrIntrpnWithRound_u16_s16VariXu16VariY()

LnrIntrpnWithRound_s16_s16VariXs16VariY()

LnrIntrpnWithRound_s16_u16VariXs16VariY()

BilnrIntrpnWithRount_u16_u16CmnXu16MplY()

BilnrIntrpnWithRound_s16_u16CmnXs16MplY()

BilnrIntrpnWithRound_s16_s16CmnXs16MplY()

BilnrIntrpnWithRound_u16_s16CmnXu16MplY()

BilnrIntrpnWithRound_s16_u16MplXs16MplY()

BilnrIntrpnWithRound_s16_s16MplXs16MplY()

BilnrIntrpnWithRound_u16_u16MplXu16MplY()

BilnrIntrpnWithRound_u16_s16MplXu16MplY()

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

N/A

Required Global Data Outputs

N/A

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

Runnable	Scheduling Requirements	Trigger
None	None	RTE/ISR(<time>ms)

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
None
NxtrIntrpn_START_SEC_CODE

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
None

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

None

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

[1] – No official document released for EA4.0 for this document’s revision.

10.2 - NxtrIntrpn Review

Overview

Summary Sheet
Source Code
QAC

Sheet 1: Summary Sheet

Rev 6.0

28-Oct-14

Peer Review Summary Sheet

Component Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. Nexteer Interpolation Library

Component Revision:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR101A_NxtrIntrpn_Impl_1.0.1

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. K. Smith

Change Request ID:

EA4#1143

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

MDD

X

Source Code

Data Dictionary

X

QAC

Integration Manual

Davinci Files

Comments:

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request. (Note: If this peer review form was not
completed for pervious versions of this component, the Change Owner should review the entire component and complete the checklist in its entirety prior and check
the form into Syngery. This may be done prior to reviewing the modifications for this Change Result)
- The Change Owner shall responsible for completing the entire checklist (Pre and Group review items) prior holding the initial group review.
- New components should include FDD Owner and Intergator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Select "Yes" and add "N/A" to the comments for checklist items that are not applicable for this change

Sheet 2: Source Code

Rev 6.0

28-Oct-14

Peer Review Meeting Log (Source Code Review)

Source File Name:

kzshz2: Intended Use: Identify which .asm, .c, or .h file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrIntrpn.c

Source File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 2

Module Design Document Name:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

MDD Revision:

kzshz2: Intended Use: Identify which version of the MDD this source file was written against. Rationale: Needed for traceability between source code and MDD N/A

Data Dictionary Revision:

kzshz2: Intended Use: Identify which version of the Data Dictionary was referenced for ranges during the source file review. Rationale: Needed for traceability between source code and DD N/A

FDD/SER/CMS

and Revision:

nz63rn: Intended Use: Identify which version of which FDD/CMS/SER this source file was written against. Rationale: Needed for traceability between source code and FDD/CMS/SER N/A

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review checklist for change owners

Software Naming Convention V1.2 followed:

for variable names

X

Comments:

for constant names

X

Comments:

for function names

X

Comments:

for other names (component, memory

X

Comments:

mapping handles, typedefs, etc.)

All buffered outputs written in every path, i.e. no

X

Comments:

possibility of an uninitialized value being written

Group-review Checklist (review board)

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

X

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

X

Comments:

and CR number

Code accurately implements FDD (Document or Model)

X

Comments:

Model / FDD not yet available

No Compiler Errors or Warnings verified

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

X

Comments:

FDD test points exist as display variables: declared

X

Comments:

static volatile, written once and never used, names

match the FDD

Software Design and Coding Standards V2.0 followed:

Code comments are clear, correct, and adequate

X

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

X

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

X

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

X

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

X

Comments:

"magic numbers": [N12]

All variables and constants defined at module

X

Comments:

level are included in appropriate MemMap

section: [N25] and Naming Conventions

All execution-order-dependent code can be

X

Comments:

recognized by the compiler: [N80]

No possibility of a non-terminating loop: [N63]

X

Comments:

No possibility of divide by zero: [N65]

X

Comments:

In order to save execution time, these checks

are not included. However, Design doc clearly states this as a limitation.

All integer division and modulus operations

X

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

X

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

No possibility of converting a negative floating

X

Comments:

This is done by design.

point value to an unsigned type: [N67]

All conversions between signed and unsigned

X

Comments:

types handle msb==1 as intended: [N78]

No possibility of dereferencing a null

X

Comments:

pointer: [N70]

Global outputs (RTE and Non-RTE) Initialized:

X

Comments:

[N24]

Module outputs are limited to the legal range

X

Comments:

defined in the FDD Data dictionary: [N53]

All code is mapped with FDD (all FDD

X

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Struct types used for NvM have

X

Comments:

elements declared in decreasing order by size

and are not nested or used in arrays: [N84], [N85]

No violations of other coding standard rules

X

Comments:

identified during review

General Notes / Comments:

Model/FDD/M-files are still being worked on.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

K. Smith

Review Date :

07/24/15

Lead Peer Reviewer:

Lucas W.

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: QAC

Rev 6.0

28-Oct-14

Peer Review Meeting Log (QAC Review)

Module Name:

kzshz2: Intended Use: Identify which .c file is being analyzed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrIntrpn.c

Source File Revision:

2

Module

1

of

1

Compliance Guidelines Version:

kzshz2: Intended Use: Identify specific changes in results (new violation present, previous violation corrected, etc.). Changes to the version of the tool or the way the results were gathered should be described here also. This should be filled out prior to the review by the change owner. Rationale: Gives reviewers an what needs to be focused on. Forces the change owner to compare with previous results to catch any differences that may otherwise go unoticed Brief Summary of Changes (In Results or Tool):

Quality Check Items:

Yes

No

Rationale is required for all answers of No

Pre-review
checklist for change owners

QAC version is correct and did not change (List version)

kzshz2: Intended Use: Identify which version of the QAC Subproject was used and if any of the personalities may have changed. Rationale: Will help ensure this is factored into evaluating the results

X

Comments:

Contract Folder's header files are appropriate

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

X

Comments:

Group-review Checklist (review board)

100% Compliance to the MISRA Compliance Guidelines

X

Comments:

Cyclomatic complexity and Static path count ok per

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

X

Comments:

Design and Coding Standards rule [N47]

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

K. Smith

Review Date :

07/24/15

Lead Peer Reviewer:

Lucas W.

Approved by Reviewer(s):

Yes

Other Reviewer(s):

11 - Component Implementation

Component Implementation

Component Documentation

11.1 - NxtrMath Integration Manual

Integration Manual

For

NxtrMath

VERSION: 3

DATE: 05/26/2017

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Lucas Wendling	1	02/18/15
2	Added Memmap	Avinash James	2	03/22/17
3	Updated for addition of error handling function	Jared Julien	3	05/26/17

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

__gh_set_errno

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

N/A

Required Global Data Outputs

N/A

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
NxtrMathInit1	None	RTE Init

Runnable	Scheduling Requirements	Trigger
NxtrMathPer1	None	RTE (100ms)

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
NxtrMath_START_SEC_CONST_16		None
GlobalShared_START_SEC_VAR_CLEARED_32		To be defined in MemMap.h of project
NxtrMath_START_SEC_CODE		None

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
<Memmap usuage info>

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

<NVM block used Non RTE functions >

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

<NVM block used in RTE functions >

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

<This section is for appendix>

11.2 - NxtrMath Review

Overview

Summary Sheet
Synergy Project
Davinci Files
Source Code
PolySpace
Integration Manual

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR100A_NxtrMath_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. 1.4.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Jared Julien

Work CR ID:

EA4#12469

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

N/A

MDD

Yes

Source Code

Yes

PolySpace

Yes

Integration Manual

N/A

Davinci Files

Comments:

MDD was not created as part of this change - FDD captures all relevant design details

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/13/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: Davinci Files

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Davinci Review)

Quality Check Items:

Rationale is required for all answers of No

Only StdDef Port types are used

Yes

Comments:

For components not using application data types, do all

Yes

Comments:

port interface names end in PortIf and a sequence number

Non-program-specific components saved

Yes

Comments:

in Autosar 4.0.3 format

*Cfg.arxml.TT: Verfied Davinci Configurator imported the

N/A

Comments:

change correctly

*Cfg.h.TT: Verfied Davinci Configurator generates

N/A

Comments:

the configuration header(s) file correctly

kzshz2: Either a generic sandbox or a baselined integration project can be used to verify

All changed files have been compared against previous

N/A

Comments:

versions (If available)

kzshz2: Intended Use: Identify if previous version was compared and only the expected change(s) was present. This is for text files only, not binary or GUIs Rationale: This is helpful in identifying unapproved (intended or mistaken) changes.

Initial versions

Automated validation check is performed

Yes

Comments:

Naming conventions followed. All names should

Yes

Comments:

match DataDict.m

Sender/Receiver port properties match DataDict.m

N/A

Comments:

file (use .m file helper tool)

Calibration port properties match DataDict.m

N/A

Comments:

file (use .m file helper tool)

Components using application data types:

Sender/Receiver port initialization values match

N/A

Comments:

DataDict.m file

Calibration port initialization values match

N/A

Comments:

DataDict.m file

Components not using application data types:

Sender/Receiver port initialization values match

N/A

Comments:

DataDict.m file and have been converted to counts

for fixed point types

Calibration port initialization values match

N/A

Comments:

DataDict.m file and have been converted to counts

for fixed point types

Mapping set and all unused items have been

Yes

Comments:

removed

All sender/receiver port read/writes using direct

N/A

Comments:

read/writes(List justification if not)

Runnable calling frequencies match FDD

Yes

Comments:

DataDict.m display variables: created as

N/A

Comments:

PerInstanceMemory. Matches the FDD

Component is correct component type

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/13/17

Component Type :

Application

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

NxtrMath.c

Source File Revision:

2

Source File Name:

NxtrMathNonRte.c

Source File Revision:

1

Header File Name:

NxtrMath_private.h

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 1

MDD Name:

N/A

Revision:

N/A

FDD/SCIR/DSR/FDR/CM Name:

AR100A_NxtrMath_Design

Revision:

1.0.0

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

Yes

Comments:

Only for changes

for constant names

Yes

Comments:

Only for changes

for function names

Yes

Comments:

__gh_set_errno deviates as per design

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

Only for changes

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

Yes

Comments:

Only for changes

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Component.h is included

Yes

Comments:

All other includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

Only for changes

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Only for changes

Function comment blocks are per standards and

Yes

Comments:

contain correct information: [N43]

Only for changes

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

Only for changes

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Only for changes

Memory mapping for non-RTE code

Yes

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

N/A

Comments:

finite loop iterations: [N63]

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

N/A for changes

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

N/A for changes

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

Only for changes

All conversions between signed and unsigned

Yes

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

N/A

Comments:

null pointer if needed: [N70]

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments: List Anomaly or CR numbers

for any FDD corrections needed

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/13/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 5: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

NxtrMath.c

Source File Revision:

2

Source File Name:

NxtrMathNonRte.c

Source File Revision:

1

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

01.02.00

Poly Space version:

Windows User: eg. 2013b 2013b

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 N/A

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

No

Comments:

for all functions in the component per Design

Found cyclomatic complexity 17 for SinCos_f32() function

and Coding Standards rule [N47]

General Notes / Comments:

Polyspace is pointing out potential overflow issues in the Abslt and Bln library functions which are outside the scope of this change.

Rte_Stubs.c/h have been manually altered to include definitions for the Test Harness functionality for this component (they are not defined in the .m file)

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/13/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 6: Integration Manual

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

kzshz2: Intended Use: Identify which file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrMath Integration Manual.doc

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 3

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches header

Yes

Comments:

Latest template used

Yes

Comments:

Didn't change

Change log contains detailed description of changes

Yes

Comments:

Changes Highlighted (for Integrator)

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/13/17

Lead Peer Reviewer:

Avinash James

Approved by Reviewer(s):

Yes

Other Reviewer(s):

11.3 - Optimized SinCos Algorithm Rev 001

Optimized SinCos Algorithm

Background:

The following diagram is an overview of the operations that are performed during digital motor angle initialization to compute their correction tables.
Generate Reconstructed Waveform Pseudo Code:
for n = 0 to 128 // size of correction table

$ReconstructedWaveform\lbrack n\rbrack \cong \sum_{i = 1}^{12}{Acoeff\lbrack i\rbrack*\cos\left( \frac{n*2pi*i}{127} \right) +}Bcoeff\lbrack i\rbrack*\sin\left( \frac{n*2pi*i}{127} \right)$

As shown in the pseudo code there is several calls to the sine and cosine function (128 * 12). Furthermore, the algorithm requires both the sine and cosine of the same angle. During benchmarking activities the following algorithm was developed and shown to have significant time improvements (~= 5.5 mSec vs ~= 2.4 mSec) over the standard sine and cosine library functions.

Sine and Cosine as Taylor Series:

$$Sin(x) = x - \frac{x^{3}}{3!} + \frac{x^{5}}{5!} - \frac{x^{7}}{7!}\ldots$$

$$Cos(x) = 1 - \frac{x^{2}}{2!} + \frac{x^{4}}{4!} - \frac{x^{5}}{5!}\ldots$$

Range Reduction:

Although the Taylor Series for sine and cosine are exact it technically takes an infinite number of terms. The purpose of limiting the value of x into the Taylor Series is so that it doesn’t take many terms before the factorial in the denominator dwarfs the numerator. To limit the input range of x the following identity is used:

Sin(A+B) = Sin(A)Cos(B) + Sin(B)Cos(A)

For reasons that will be discussed later B will be declared as 22.5n, where n is an integer between 0 and 15. Using this technique the largest x input into the Taylor Series will be +/- 11.25 Degrees (0.1963 Radians).

Now that the maximum input value of x has been established it is possible to determine the number of terms in the Taylor Series that are required to achieve acceptable levels of accuracy.

# of Terms	Sin(x)	Sin(x) Max Error	Cos(x)	Cos(x) Max Error
1	Sin(x) = x	0.001259	Cos(x) = 1	0.0192
2	$$Sin(x) = x - \frac{x^{3}}{3!}$$	2.4297E-6	$$Cos(x) = 1 - \frac{x^{2}}{2!}$$	6.18515E-5
3	$$Sin(x) = x - \frac{x^{3}}{3!} + \frac{x^{5}}{5!}$$	2.2312E-9	$$Cos(x) = 1 - \frac{x^{2}}{2!} + \frac{x^{4}}{4!}$$	7.953E-8

As the table above shows an acceptable level of accuracy can be achieved with only 2 terms in the sine and cosine Taylor Series once the input has been range limited to +/- 11.25 degrees.

Algorithm:

Calculate n & B:

As shown before, n is the largest integer that satisfies: 22.5n < x. This can be performed using integer math where:

$$n = floor\left( \frac{x*8}{\pi} \right):where\frac{8}{\pi}Radians = 22.5\ Degrees$$

The above equation will leave a remainder that ranges from 0 to 22.5 degrees. By adding in a 0.5 term the result will round up leaving a remainder with the desired range of +/- 11.25 Degrees. Therefore n is calculated as:

$$n = floor\left( \frac{x*8}{\pi} + 0.5 \right)$$

The B term is a simple multiple of n:

$$B = \frac{\pi}{8}*n$$

Determine A:

The A term is the effective remainder of the input angle x minus the B term.

A = x − B

Compute Sin(A) & Cos(A):

Once input x has been range limited into A the term limited Taylor Series of sine and cosine can be computed:

$$Sin(A) = A - \frac{A^{3}}{3!}$$

$$Cos(A) = 1 - \frac{A^{2}}{2!}$$

Compute Sin(x):

Now that Sin(A) & Cos(A) have been determined they can be combined with Sin(B) & Cos(B) to determine Sin(x). The B term is a function of n, which was earlier stated to be a multiple of 22.5 degrees of which there are 16 per revolution. Input x is has no theoretical bound but determining Sin(B) & Cos(B) can be simplified by normalizing n into a single revolution. With n having 16 steps per revolution the normalization is a simple bit mask.

n_nrml = n & 0xF

With normalized n determined it can be used as an index into a switch case statement to determine Sin(x)

Switch (n_nrml)

Case 0:

Sinx = Sin(A)Cos(22.5 * 0) + Sin(22.5 * 0)Cos(A)

Case 1:

Sinx = Sin(A)Cos(22.5 * 1) + Sin(22.5 * 1)Cos(A)

Case 2:

Sinx = Sin(A)Cos(22.5 * 2) + Sin(22.5 * 2)Cos(A)

Case 3:

Sinx = Sin(A)Cos(22.5 * 3) + Sin(22.5 * 3)Cos(A)

Case 4:

Sinx = Sin(A)Cos(22.5 * 4) + Sin(22.5 * 4)Cos(A)

Case 5:

Sinx = Sin(A)Cos(22.5 * 5) + Sin(22.5 * 5)Cos(A)

Case 6:

Sinx = Sin(A)Cos(22.5 * 6) + Sin(22.5 * 6)Cos(A)

Case 7:

Sinx = Sin(A)Cos(22.5 * 7) + Sin(22.5 * 7)Cos(A)

Case 8:

Sinx = Sin(A)Cos(22.5 * 8) + Sin(22.5 * 8)Cos(A)

Case 9:

Sinx = Sin(A)Cos(22.5 * 9) + Sin(22.5 * 9)Cos(A)

Case 10:

Sinx = Sin(A)Cos(22.5 * 10) + Sin(22.5 * 10)Cos(A)

Case 11:

Sinx = Sin(A)Cos(22.5 * 11) + Sin(22.5 * 11)Cos(A)

Case 12:

Sinx = Sin(A)Cos(22.5 * 12) + Sin(22.5 * 12)Cos(A)

Case 13:

Sinx = Sin(A)Cos(22.5 * 13) + Sin(22.5 * 13)Cos(A)

Case 14:

Sinx = Sin(A)Cos(22.5 * 14) + Sin(22.5 * 14)Cos(A)

Case 15:

Sinx = Sin(A)Cos(22.5 * 15) + Sin(22.5 * 15)Cos(A)

The Sin(B) & Cos(B) terms above can be simplified due to their symmetrical nature into 3 predefined constants:

Sin(22.5) = Cos(67.5) = 0.38263

Sin(45.0) = Cos(45.0) = 0.70710

Sin(67.5) = Cos(22.5) = 0.92387

Cos(x) for Free (almost):

The previous calculation computed Sin(x) as a function of Sin(A), Cos(A), Sin(B) & Cos(B). As it turns out cosine has a similar trig identity that uses the exact same terms.

Cos(A+B) = Cos(A)Cos(B) − Sin(A)Sin(B)

The switch case can be modified to simultaneously be used to return the sine and cosine of the same angle at the same time:

Switch (n_nrml)

Case 0:

Sinx = Sin(A)Cos(22.5 * 0) + Sin(22.5 * 0)Cos(A)

Cosx = Cos(A)Cos(22.5 * 0) + Sin(A) Sin(22.5 * 0)

Case 1:

Sinx = Sin(A)Cos(22.5 * 1) + Sin(22.5 * 1)Cos(A)

Cosx = Cos(A)Cos(22.5 * 1) + Sin(A) Sin(22.5 * 1)

Case 2:

Sinx = Sin(A)Cos(22.5 * 2) + Sin(22.5 * 2)Cos(A)

Cosx = Cos(A)Cos(22.5 * 2) + Sin(A) Sin(22.5 * 2)

Case 3:

Sinx = Sin(A)Cos(22.5 * 3) + Sin(22.5 * 3)Cos(A)

Cosx = Cos(A)Cos(22.5 * 3) + Sin(A) Sin(22.5 * 3)

Case 4:

Sinx = Sin(A)Cos(22.5 * 4) + Sin(22.5 * 4)Cos(A)

Cosx = Cos(A)Cos(22.5 * 4) + Sin(A) Sin(22.5 * 4)

Case 5:

Sinx = Sin(A)Cos(22.5 * 5) + Sin(22.5 * 5)Cos(A)

Cosx = Cos(A)Cos(22.5 * 5) + Sin(A) Sin(22.5 * 5)

Case 6:

Sinx = Sin(A)Cos(22.5 * 6) + Sin(22.5 * 6)Cos(A)

Cosx = Cos(A)Cos(22.5 * 6) + Sin(A) Sin(22.5 * 6)

Case 7:

Sinx = Sin(A)Cos(22.5 * 7) + Sin(22.5 * 7)Cos(A)

Cosx = Cos(A)Cos(22.5 * 7) + Sin(A) Sin(22.5 * 7)

Case 8:

Sinx = Sin(A)Cos(22.5 * 8) + Sin(22.5 * 8)Cos(A)

Cosx = Cos(A)Cos(22.5 * 8) + Sin(A) Sin(22.5 * 8)

Case 9:

Sinx = Sin(A)Cos(22.5 * 9) + Sin(22.5 * 9)Cos(A)

Cosx = Cos(A)Cos(22.5 * 9) + Sin(A) Sin(22.5 * 9)

Case 10:

Sinx = Sin(A)Cos(22.5 * 10) + Sin(22.5 * 10)Cos(A)

Cosx = Cos(A)Cos(22.5 * 10) + Sin(A) Sin(22.5 *10)

Case 11:

Sinx = Sin(A)Cos(22.5 * 11) + Sin(22.5 * 11)Cos(A)

Cosx = Cos(A)Cos(22.5 * 11) + Sin(A) Sin(22.5 * 11)

Case 12:

Sinx = Sin(A)Cos(22.5 * 12) + Sin(22.5 * 12)Cos(A)

Cosx = Cos(A)Cos(22.5 * 12) + Sin(A) Sin(22.5 * 12)

Case 13:

Sinx = Sin(A)Cos(22.5 * 13) + Sin(22.5 * 13)Cos(A)

Cosx = Cos(A)Cos(22.5 * 13) + Sin(A) Sin(22.5 * 13)

Case 14:

Sinx = Sin(A)Cos(22.5 * 14) + Sin(22.5 * 14)Cos(A)

Cosx = Cos(A)Cos(22.5 * 14) + Sin(A) Sin(22.5 * 14)

Case 15:

Sinx = Sin(A)Cos(22.5 * 15) + Sin(22.5 * 15)Cos(A)

Cosx = Cos(A)Cos(22.5 * 15) + Sin(A) Sin(22.5 * 15)

Performance:

The following graph shows the output and error of the algorithm. The maximum errors for sine and cosine are:

SinErrorMax = 6.1799e-05

CosErrorMax = 6.1618e-05

Matlab Code:

%% Optimized SinCos Algorithm

ArraySize = uint16(100000);

PiOverEight = pi/8;

EightOverPi = 8/pi;

sin225 = sin(22.5/180*pi);

sin450 = sin(45.0/180*pi);

sin675 = sin(67.5/180*pi);

x = linspace(-2*pi, 2*pi,ArraySize)';

SinX = zeros(ArraySize,1);

CosX = zeros(ArraySize,1);

n = int16(floor(x * EightOverPi + 0.5));

A = (x - double(n) * PiOverEight);

SinA = A - (A.^3)/6;%+(A.^5)/120;

CosA = 1 - (A.^2)/2;%+(A.^4)/24;

n_nrml = bitand(n,15);

for i = 1:ArraySize

switch n_nrml(i)

case 0

SinX(i) = SinA(i);

CosX(i) = CosA(i);

case 1

SinX(i) = sin675 * SinA(i) + sin225 * CosA(i);

CosX(i) = -sin225 * SinA(i) + sin675 * CosA(i);

case 2

SinX(i) = sin450 * SinA(i) + sin450 * CosA(i);

CosX(i) = -sin450 * SinA(i) + sin450 * CosA(i);

case 3

SinX(i) = sin225 * SinA(i) + sin675 * CosA(i);

CosX(i) = -sin675 * SinA(i) + sin225 * CosA(i);

case 4

SinX(i) = CosA(i);

CosX(i) = -SinA(i);

case 5

SinX(i) = -sin225 * SinA(i) + sin675 * CosA(i);

CosX(i) = -sin675 * SinA(i) + -sin225 * CosA(i);

case 6

SinX(i) = -sin450 * SinA(i) + sin450 * CosA(i);

CosX(i) = -sin450 * SinA(i) + -sin450 * CosA(i);

case 7

SinX(i) = -sin675 * SinA(i) + sin225 * CosA(i);

CosX(i) = -sin225 * SinA(i) + -sin675 * CosA(i);

case 8

SinX(i) = -SinA(i);

CosX(i) = -CosA(i);

case 9

SinX(i) = -sin675 * SinA(i) + -sin225 * CosA(i);

CosX(i) = sin225 * SinA(i) + -sin675 * CosA(i);

case 10

SinX(i) = -sin450 * SinA(i) + -sin450 * CosA(i);

CosX(i) = sin450 * SinA(i) + -sin450 * CosA(i);

case 11

SinX(i) = -sin225 * SinA(i) + -sin675 * CosA(i);

CosX(i) = sin675 * SinA(i) + -sin225 * CosA(i);

case 12

SinX(i) = -CosA(i);

CosX(i) = SinA(i);

case 13

SinX(i) = sin225 * SinA(i) + -sin675 * CosA(i);

CosX(i) = sin675 * SinA(i) + sin225 * CosA(i);

case 14

SinX(i) = sin450 * SinA(i) + -sin450 * CosA(i);

CosX(i) = sin450 * SinA(i) + sin450 * CosA(i);

case 15

SinX(i) = sin675 * SinA(i) + -sin225 * CosA(i);

CosX(i) = sin225 * SinA(i) + sin675 * CosA(i);

end

SinError = sin(x) - SinX;

CosError = cos(x) - CosX;

SinErrorMax = max(SinError)

CosErrorMax = max(CosError)

subplot(2,2,1) % first subplot

plot(x*180/pi,SinX)

title('Sin(x)')

xlabel('Angle (Degrees)')

ylabel('Sin(x) (Unitless)')

subplot(2,2,2) % second subplot

plot(x*180/pi,CosX)

title('Cos(x)')

xlabel('Angle (Degrees)')

ylabel('Cos(x) (Unitless)')

subplot(2,2,3) % third subplot

plot(x*180/pi,SinError)

title('Sin(x) Error')

xlabel('Angle (Degrees)')

ylabel('Sin(x) Error (Unitless)')

subplot(2,2,4) % fourth subplot

plot(x*180/pi,CosError)

title('Cos(x) Error')

xlabel('Angle (Degrees)')

ylabel('Cos(x) Error (Unitless)')

11.4 - SinCos_f32()_Simulation

Overview

Error_Analysis
Timing_Analysis

Sheet 1: Error_Analysis

	Note: Simulation was run in an actual RENESAS uController on a T1XX board.

Angle_deg	Sine	Angle_deg	Cosine	Angle_deg	Error/Sine	Angle_deg	Error/Cosine
-450	-1	-450	4.77E-07	-450	5.96E-08	-450	2.72E-07
-449	-0.999848	-449	0.0174528	-449	5.96E-08	-449	-1.43E-07
-448	-0.999391	-448	0.0348998	-448	0	-448	1.86E-07
-447	-0.998629	-447	0.0523361	-447	-2.98E-07	-447	-2.27E-07
-446	-0.997563	-446	0.069757	-446	-9.54E-07	-446	-3.58E-07
-445	-0.996192	-445	0.0871562	-445	-2.38E-06	-445	7.45E-09
-444	-0.994517	-444	0.104529	-444	-4.95E-06	-444	3.95E-07
-443	-0.992537	-443	0.121869	-443	-9.24E-06	-443	9.69E-08
-442	-0.990252	-442	0.139173	-442	-1.58E-05	-442	6.41E-07
-441	-0.987663	-441	0.156434	-441	-2.53E-05	-441	8.49E-07
-440	-0.984769	-440	0.173647	-440	-3.87E-05	-440	1.01E-06
-439	-0.981571	-439	0.190807	-439	-5.65E-05	-439	2.15E-06
-438	-0.978104	-438	0.207895	-438	-4.39E-05	-438	1.68E-05
-437	-0.97434	-437	0.22494	-437	-2.94E-05	-437	1.14E-05
-436	-0.970277	-436	0.241915	-436	-1.90E-05	-436	7.11E-06
-435	-0.965914	-435	0.258815	-435	-1.14E-05	-435	4.62E-06
-434	-0.961255	-434	0.275635	-434	-6.50E-06	-434	2.35E-06
-433	-0.956301	-433	0.29237	-433	-3.22E-06	-433	1.43E-06
-432	-0.951055	-432	0.309017	-432	-1.49E-06	-432	5.96E-07
-431	-0.945518	-431	0.325568	-431	-4.77E-07	-431	5.66E-07
-430	-0.939692	-430	0.34202	-430	-1.79E-07	-430	0
-429	-0.93358	-429	0.358368	-429	1.19E-07	-429	2.38E-07
-428	-0.927184	-428	0.374607	-428	-5.96E-08	-428	-1.49E-07
-427	-0.920505	-427	0.390732	-427	1.79E-07	-427	4.17E-07
-426	-0.913545	-426	0.406737	-426	-5.96E-08	-426	5.96E-08
-425	-0.906308	-425	0.422618	-425	0	-425	3.87E-07
-424	-0.898793	-424	0.438371	-424	-5.96E-07	-424	2.09E-07
-423	-0.891005	-423	0.45399	-423	-1.31E-06	-423	8.64E-07
-422	-0.882944	-422	0.469471	-422	-3.22E-06	-422	1.55E-06
-421	-0.874613	-421	0.484807	-421	-6.08E-06	-421	3.22E-06
-420	-0.866014	-420	0.499995	-420	-1.11E-05	-420	5.07E-06
-419	-0.857149	-419	0.51503	-419	-1.82E-05	-419	8.58E-06
-418	-0.848019	-418	0.529906	-418	-2.87E-05	-418	1.29E-05
-417	-0.838628	-417	0.54462	-417	-4.28E-05	-417	1.94E-05
-416	-0.828996	-416	0.559155	-416	-4.12E-05	-416	3.87E-05
-415	-0.819124	-415	0.57355	-415	-2.79E-05	-415	2.69E-05
-414	-0.808999	-414	0.587768	-414	-1.84E-05	-414	1.76E-05
-413	-0.798624	-413	0.601804	-413	-1.11E-05	-413	1.14E-05
-412	-0.788004	-412	0.615655	-412	-6.50E-06	-412	6.74E-06
-411	-0.777142	-411	0.629317	-411	-3.58E-06	-411	3.46E-06
-410	-0.766043	-410	0.642786	-410	-1.49E-06	-410	1.97E-06
-409	-0.754709	-409	0.656058	-409	-7.75E-07	-409	7.15E-07
-408	-0.743144	-408	0.669131	-408	1.19E-07	-408	6.56E-07
-407	-0.731354	-407	0.681998	-407	0	-407	1.19E-07
-406	-0.71934	-406	0.694658	-406	3.58E-07	-406	3.58E-07
-405	-0.707107	-405	0.707107	-405	5.96E-08	-405	5.96E-08
-404	-0.694658	-404	0.71934	-404	1.79E-07	-404	2.38E-07
-403	-0.681998	-403	0.731354	-403	1.19E-07	-403	1.19E-07
-402	-0.66913	-402	0.743145	-402	1.79E-07	-402	5.96E-07
-401	-0.656058	-401	0.754709	-401	-7.15E-07	-401	7.75E-07
-400	-0.642786	-400	0.766043	-400	-1.43E-06	-400	1.97E-06
-399	-0.629317	-399	0.777142	-399	-3.46E-06	-399	3.58E-06
-398	-0.615655	-398	0.788004	-398	-5.96E-06	-398	7.09E-06
-397	-0.601804	-397	0.798624	-397	-1.08E-05	-397	1.16E-05
-396	-0.587768	-396	0.808999	-396	-1.70E-05	-396	1.88E-05
-395	-0.57355	-395	0.819124	-395	-2.63E-05	-395	2.83E-05
-394	-0.559155	-394	0.828996	-394	-3.81E-05	-394	4.17E-05
-393	-0.544619	-393	0.838628	-393	-1.97E-05	-393	4.27E-05
-392	-0.529906	-392	0.84802	-392	-1.34E-05	-392	2.84E-05
-391	-0.515029	-391	0.857149	-391	-8.34E-06	-391	1.84E-05
-390	-0.499995	-390	0.866014	-390	-4.86E-06	-390	1.13E-05
-389	-0.484807	-389	0.874613	-389	-2.98E-06	-389	6.26E-06
-388	-0.46947	-388	0.882945	-388	-1.70E-06	-388	3.04E-06
-387	-0.453989	-387	0.891005	-387	-6.85E-07	-387	1.49E-06
-386	-0.438371	-386	0.898794	-386	-6.56E-07	-386	2.98E-07
-385	-0.422618	-385	0.906308	-385	-1.79E-07	-385	1.19E-07
-384	-0.406736	-384	0.913545	-384	1.79E-07	-384	1.19E-07
-383	-0.390731	-383	0.920505	-383	5.96E-08	-383	5.96E-08
-382	-0.374606	-382	0.927184	-382	-2.98E-07	-382	-1.19E-07
-381	-0.358368	-381	0.933581	-381	-2.98E-08	-381	5.96E-08
-380	-0.34202	-380	0.939693	-380	-4.47E-07	-380	0
-379	-0.325567	-379	0.945518	-379	-2.98E-08	-379	5.96E-07
-378	-0.309016	-378	0.951055	-378	-8.05E-07	-378	1.43E-06
-377	-0.29237	-377	0.956302	-377	-1.19E-06	-377	3.34E-06
-376	-0.275635	-376	0.961255	-376	-2.80E-06	-376	6.38E-06
-375	-0.258814	-375	0.965914	-375	-4.35E-06	-375	1.14E-05
-374	-0.241914	-374	0.970277	-374	-7.26E-06	-374	1.88E-05
-373	-0.224939	-373	0.974341	-373	-1.09E-05	-373	2.96E-05
-372	-0.207895	-372	0.978104	-372	-1.66E-05	-372	4.40E-05
-371	-0.190807	-371	0.981571	-371	-1.88E-06	-371	5.66E-05
-370	-0.173647	-370	0.984769	-370	-1.48E-06	-370	3.86E-05
-369	-0.156433	-369	0.987663	-369	-1.06E-06	-369	2.53E-05
-368	-0.139172	-368	0.990252	-368	-3.73E-07	-368	1.59E-05
-367	-0.121869	-367	0.992537	-367	1.64E-07	-367	9.30E-06
-366	-0.104528	-366	0.994517	-366	-1.27E-07	-366	4.95E-06
-365	-0.0871557	-365	0.996192	-365	2.68E-07	-365	2.38E-06
-364	-0.0697561	-364	0.997563	-364	1.56E-07	-364	9.54E-07
-363	-0.0523357	-363	0.998629	-363	-2.50E-07	-363	2.98E-07
-362	-0.0348993	-362	0.999391	-362	8.57E-08	-362	0
-361	-0.0174523	-361	0.999848	-361	4.15E-07	-361	-5.96E-08
-360	0	-360	1	-360	0	-360	-5.96E-08
-359	0.0174528	-359	0.999848	-359	2.31E-07	-359	-5.96E-08
-358	0.0348998	-358	0.999391	-358	1.86E-07	-358	0
-357	0.0523361	-357	0.998629	-357	1.49E-07	-357	2.38E-07
-356	0.0697565	-356	0.997563	-356	1.12E-07	-356	8.94E-07
-355	0.0871562	-355	0.996192	-355	7.45E-09	-355	2.38E-06
-354	0.104529	-354	0.994517	-354	2.24E-08	-354	4.95E-06
-353	0.121869	-353	0.992537	-353	4.69E-07	-353	9.18E-06
-352	0.139173	-352	0.990252	-352	6.41E-07	-352	1.58E-05
-351	0.156434	-351	0.987663	-351	9.54E-07	-351	2.53E-05
-350	0.173647	-350	0.984769	-350	1.37E-06	-350	3.86E-05
-349	0.190807	-349	0.981571	-349	2.15E-06	-349	5.65E-05
-348	0.207895	-348	0.978104	-348	1.65E-05	-348	4.40E-05
-347	0.22494	-347	0.974341	-347	1.11E-05	-347	2.94E-05
-346	0.241915	-346	0.970277	-346	7.57E-06	-346	1.88E-05
-345	0.258815	-345	0.965914	-345	4.62E-06	-345	1.14E-05
-344	0.275635	-344	0.961255	-344	2.71E-06	-344	6.44E-06
-343	0.29237	-343	0.956301	-343	1.43E-06	-343	3.22E-06
-342	0.309016	-342	0.951055	-342	7.15E-07	-342	1.43E-06
-341	0.325568	-341	0.945518	-341	2.98E-07	-341	5.36E-07
-340	0.34202	-340	0.939692	-340	3.58E-07	-340	5.96E-08
-339	0.358368	-339	0.93358	-339	2.38E-07	-339	-1.19E-07
-338	0.374607	-338	0.927184	-338	2.09E-07	-338	-5.96E-08
-337	0.390731	-337	0.920505	-337	1.79E-07	-337	-5.96E-08
-336	0.406736	-336	0.913545	-336	1.49E-07	-336	-5.96E-08
-335	0.422618	-335	0.906308	-335	3.87E-07	-335	0
-334	0.438371	-334	0.898793	-334	5.36E-07	-334	4.17E-07
-333	0.45399	-333	0.891005	-333	8.64E-07	-333	1.31E-06
-332	0.46947	-332	0.882944	-332	1.64E-06	-332	3.16E-06
-331	0.484807	-331	0.874613	-331	2.98E-06	-331	6.26E-06
-330	0.499995	-330	0.866014	-330	5.07E-06	-330	1.11E-05
-329	0.51503	-329	0.857149	-329	8.58E-06	-329	1.82E-05
-328	0.529906	-328	0.848019	-328	1.33E-05	-328	2.84E-05
-327	0.544619	-327	0.838628	-327	1.98E-05	-327	4.24E-05
-326	0.559155	-326	0.828996	-326	3.83E-05	-326	4.15E-05
-325	0.573551	-325	0.819123	-325	2.62E-05	-325	2.84E-05
-324	0.587768	-324	0.808998	-324	1.72E-05	-324	1.87E-05
-323	0.601804	-323	0.798624	-323	1.10E-05	-323	1.14E-05
-322	0.615655	-322	0.788004	-322	6.44E-06	-322	6.74E-06
-321	0.629317	-321	0.777142	-321	3.34E-06	-321	3.70E-06
-320	0.642786	-320	0.766042	-320	1.55E-06	-320	1.79E-06
-319	0.656059	-319	0.754709	-319	5.96E-07	-319	8.94E-07
-318	0.669131	-318	0.743144	-318	1.19E-07	-318	3.58E-07
-317	0.681998	-317	0.731354	-317	-1.79E-07	-317	2.38E-07
-316	0.694659	-316	0.719339	-316	0	-316	0
-315	0.707107	-315	0.707106	-315	-1.79E-07	-315	1.19E-07
-314	0.71934	-314	0.694658	-314	-5.96E-08	-314	1.19E-07
-313	0.731354	-313	0.681998	-313	-1.19E-07	-313	1.79E-07
-312	0.743145	-312	0.66913	-312	5.96E-08	-312	4.17E-07
-311	0.754709	-311	0.656058	-311	7.75E-07	-311	7.75E-07
-310	0.766043	-310	0.642786	-310	1.73E-06	-310	1.79E-06
-309	0.777143	-309	0.629317	-309	3.52E-06	-309	3.58E-06
-308	0.788004	-308	0.615655	-308	6.62E-06	-308	6.56E-06
-307	0.798624	-307	0.601804	-307	1.14E-05	-307	1.11E-05
-306	0.808999	-306	0.587767	-306	1.85E-05	-306	1.73E-05
-305	0.819124	-305	0.57355	-305	2.83E-05	-305	2.63E-05
-304	0.828996	-304	0.559154	-304	4.14E-05	-304	3.85E-05
-303	0.838628	-303	0.544619	-303	4.27E-05	-303	1.95E-05
-302	0.848019	-302	0.529906	-302	2.87E-05	-302	1.29E-05
-301	0.857149	-301	0.515029	-301	1.84E-05	-301	8.34E-06
-300	0.866014	-300	0.499995	-300	1.11E-05	-300	5.16E-06
-299	0.874613	-299	0.484807	-299	6.44E-06	-299	2.65E-06
-298	0.882944	-298	0.46947	-298	3.28E-06	-298	1.28E-06
-297	0.891005	-297	0.453989	-297	1.49E-06	-297	6.85E-07
-296	0.898794	-296	0.438371	-296	4.77E-07	-296	2.68E-07
-295	0.906308	-295	0.422618	-295	1.19E-07	-295	1.79E-07
-294	0.913545	-294	0.406736	-294	-5.96E-08	-294	1.49E-07
-293	0.920505	-293	0.390731	-293	5.96E-08	-293	-1.79E-07
-292	0.927184	-292	0.374606	-292	5.96E-08	-292	-2.98E-08
-291	0.933581	-291	0.358368	-291	5.96E-08	-291	2.98E-08
-290	0.939693	-290	0.34202	-290	1.19E-07	-290	1.19E-07
-289	0.945518	-289	0.325568	-289	5.36E-07	-289	2.98E-07
-288	0.951055	-288	0.309016	-288	1.43E-06	-288	7.15E-07
-287	0.956302	-287	0.29237	-287	3.34E-06	-287	1.19E-06
-286	0.961255	-286	0.275635	-286	6.50E-06	-286	2.44E-06
-285	0.965914	-285	0.258814	-285	1.14E-05	-285	4.35E-06
-284	0.970277	-284	0.241915	-284	1.88E-05	-284	7.20E-06
-283	0.974341	-283	0.22494	-283	2.94E-05	-283	1.11E-05
-282	0.978104	-282	0.207895	-282	4.40E-05	-282	1.62E-05
-281	0.981571	-281	0.190807	-281	5.66E-05	-281	1.88E-06
-280	0.984769	-280	0.173647	-280	3.87E-05	-280	1.10E-06
-279	0.987663	-279	0.156434	-279	2.54E-05	-279	5.96E-07
-278	0.990252	-278	0.139173	-278	1.59E-05	-278	2.68E-07
-277	0.992537	-277	0.121869	-277	9.24E-06	-277	2.09E-07
-276	0.994517	-276	0.104528	-276	5.01E-06	-276	-2.46E-07
-275	0.996192	-275	0.0871557	-275	2.38E-06	-275	-2.68E-07
-274	0.997563	-274	0.0697565	-274	9.54E-07	-274	-2.61E-07
-273	0.998629	-273	0.0523361	-273	2.98E-07	-273	-2.27E-07
-272	0.999391	-272	0.0348993	-272	0	-272	-8.57E-08
-271	0.999848	-271	0.0174523	-271	-5.96E-08	-271	-4.10E-08
-270	1	-270	0	-270	-5.96E-08	-270	0
-269	0.999848	-269	-0.0174523	-269	-5.96E-08	-269	-3.33E-07
-268	0.999391	-268	-0.0348998	-268	0	-268	-1.86E-07
-267	0.998629	-267	-0.0523361	-267	2.38E-07	-267	-1.49E-07
-266	0.997563	-266	-0.0697565	-266	8.94E-07	-266	-1.12E-07
-265	0.996192	-265	-0.0871557	-265	2.38E-06	-265	-1.04E-07
-264	0.994517	-264	-0.104528	-264	4.95E-06	-264	-1.27E-07
-263	0.992537	-263	-0.121869	-263	9.18E-06	-263	-4.69E-07
-262	0.990252	-262	-0.139173	-262	1.58E-05	-262	-6.41E-07
-261	0.987663	-261	-0.156434	-261	2.53E-05	-261	-9.54E-07
-260	0.984769	-260	-0.173647	-260	3.86E-05	-260	-1.48E-06
-259	0.981571	-259	-0.190807	-259	5.65E-05	-259	-2.25E-06
-258	0.978103	-258	-0.207896	-258	4.40E-05	-258	-1.64E-05
-257	0.97434	-257	-0.22494	-257	2.94E-05	-257	-1.10E-05
-256	0.970277	-256	-0.241915	-256	1.90E-05	-256	-7.11E-06
-255	0.965914	-255	-0.258815	-255	1.15E-05	-255	-4.23E-06
-254	0.961255	-254	-0.275635	-254	6.50E-06	-254	-2.35E-06
-253	0.956301	-253	-0.292371	-253	3.34E-06	-253	-1.01E-06
-252	0.951055	-252	-0.309017	-252	1.49E-06	-252	-5.96E-07
-251	0.945518	-251	-0.325568	-251	5.96E-07	-251	-1.79E-07
-250	0.939692	-250	-0.34202	-250	1.79E-07	-250	0
-249	0.93358	-249	-0.358368	-249	0	-249	1.19E-07
-248	0.927184	-248	-0.374607	-248	1.19E-07	-248	2.38E-07
-247	0.920505	-247	-0.390732	-247	1.19E-07	-247	2.68E-07
-246	0.913545	-246	-0.406737	-246	5.96E-08	-246	-5.96E-08
-245	0.906308	-245	-0.422618	-245	1.79E-07	-245	-5.96E-08
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0	0	0	1	0	0	0	0
1	0.0174524	1	0.999848	1	0	1	-5.96E-08
2	0.0348995	2	0.999391	2	0	2	0
3	0.052336	3	0.998629	3	3.73E-09	3	2.38E-07
4	0.0697565	4	0.997563	4	7.45E-09	4	9.54E-07
5	0.0871557	5	0.996192	5	4.47E-08	5	2.38E-06
6	0.104528	6	0.994517	6	1.04E-07	6	4.95E-06
7	0.121869	7	0.992537	7	2.24E-07	7	9.18E-06
8	0.139173	8	0.990252	8	4.47E-07	8	1.58E-05
9	0.156434	9	0.987663	9	8.05E-07	9	2.53E-05
10	0.173647	10	0.984769	10	1.36E-06	10	3.86E-05
11	0.190807	11	0.981571	11	2.16E-06	11	5.65E-05
12	0.207895	12	0.978104	12	1.64E-05	12	4.40E-05
13	0.22494	13	0.974341	13	1.11E-05	13	2.94E-05
14	0.241915	14	0.970277	14	7.18E-06	14	1.89E-05
15	0.258815	15	0.965914	15	4.41E-06	15	1.15E-05
16	0.275635	16	0.961255	16	2.53E-06	16	6.44E-06
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20	0.34202	20	0.939692	20	8.94E-08	20	1.79E-07
21	0.358368	21	0.93358	21	2.98E-08	21	0
22	0.374607	22	0.927184	22	2.98E-08	22	0
23	0.390731	23	0.920505	23	2.98E-08	23	0
24	0.406737	24	0.913545	24	2.98E-08	24	5.96E-08
25	0.422618	25	0.906308	25	8.94E-08	25	1.79E-07
26	0.438371	26	0.898793	26	2.68E-07	26	5.96E-07
27	0.45399	27	0.891005	27	6.26E-07	27	1.55E-06
28	0.46947	28	0.882944	28	1.43E-06	28	3.28E-06
29	0.484807	29	0.874613	29	2.83E-06	29	6.38E-06
30	0.499995	30	0.866014	30	5.01E-06	30	1.13E-05
31	0.51503	31	0.857149	31	8.34E-06	31	1.85E-05
32	0.529906	32	0.848019	32	1.30E-05	32	2.87E-05
33	0.544619	33	0.838628	33	1.96E-05	33	4.28E-05
34	0.559154	34	0.828996	34	3.84E-05	34	4.15E-05
35	0.57355	35	0.819124	35	2.64E-05	35	2.83E-05
36	0.587768	36	0.808998	36	1.75E-05	36	1.85E-05
37	0.601804	37	0.798624	37	1.08E-05	37	1.15E-05
38	0.615655	38	0.788004	38	6.50E-06	38	6.79E-06
39	0.629317	39	0.777142	39	3.52E-06	39	3.58E-06
40	0.642786	40	0.766043	40	1.73E-06	40	1.73E-06
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47	0.731354	47	0.681998	47	5.96E-08	47	-5.96E-08
48	0.743145	48	0.66913	48	1.79E-07	48	1.79E-07
49	0.754709	49	0.656058	49	7.15E-07	49	5.96E-07
50	0.766043	50	0.642786	50	1.67E-06	50	1.67E-06
51	0.777142	51	0.629317	51	3.52E-06	51	3.40E-06
52	0.788004	52	0.615655	52	6.74E-06	52	6.26E-06
53	0.798624	53	0.601804	53	1.14E-05	53	1.08E-05
54	0.808998	54	0.587768	54	1.85E-05	54	1.73E-05
55	0.819124	55	0.57355	55	2.83E-05	55	2.63E-05
56	0.828996	56	0.559155	56	4.14E-05	56	3.83E-05
57	0.838628	57	0.54462	57	4.27E-05	57	1.95E-05
58	0.848019	58	0.529906	58	2.86E-05	58	1.30E-05
59	0.857149	59	0.51503	59	1.84E-05	59	8.23E-06
60	0.866014	60	0.499995	60	1.11E-05	60	4.95E-06
61	0.874613	61	0.484807	61	6.26E-06	61	2.80E-06
62	0.882944	62	0.46947	62	3.16E-06	62	1.43E-06
63	0.891005	63	0.45399	63	1.43E-06	63	6.26E-07
64	0.898793	64	0.438371	64	5.36E-07	64	2.09E-07
65	0.906308	65	0.422618	65	1.19E-07	65	8.94E-08
66	0.913545	66	0.406737	66	-5.96E-08	66	0
67	0.920505	67	0.390731	67	0	67	2.98E-08
68	0.927184	68	0.374607	68	0	68	2.98E-08
69	0.93358	69	0.358368	69	0	69	0
70	0.939692	70	0.34202	70	1.79E-07	70	1.49E-07
71	0.945518	71	0.325568	71	5.36E-07	71	2.68E-07
72	0.951055	72	0.309016	72	1.49E-06	72	6.26E-07
73	0.956301	73	0.29237	73	3.28E-06	73	1.31E-06
74	0.961255	74	0.275635	74	6.50E-06	74	2.56E-06
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76	0.970277	76	0.241915	76	1.89E-05	76	7.18E-06
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78	0.978104	78	0.207895	78	4.40E-05	78	1.65E-05
79	0.981571	79	0.190807	79	5.66E-05	79	2.09E-06
80	0.984769	80	0.173647	80	3.86E-05	80	1.27E-06
81	0.987663	81	0.156434	81	2.53E-05	81	7.45E-07
82	0.990252	82	0.139173	82	1.58E-05	82	3.28E-07
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88	0.999391	88	0.0348995	88	0	88	-6.33E-08
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101	0.981571	101	-0.190807	101	5.65E-05	101	-2.13E-06
102	0.978104	102	-0.207895	102	4.40E-05	102	-1.63E-05
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104	0.970277	104	-0.241915	104	1.88E-05	104	-7.20E-06
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114	0.913545	114	-0.406736	114	5.96E-08	114	2.98E-08
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131	0.754709	131	-0.656058	131	7.75E-07	131	-7.15E-07
132	0.743145	132	-0.66913	132	1.79E-07	132	-2.98E-07
133	0.731354	133	-0.681998	133	5.96E-08	133	0
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136	0.694658	136	-0.71934	136	1.19E-07	136	5.96E-08
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139	0.656058	139	-0.754709	139	8.34E-07	139	-5.96E-07
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153	0.45399	153	-0.891005	153	6.85E-07	153	-1.43E-06
154	0.438371	154	-0.898793	154	2.09E-07	154	-5.96E-07
155	0.422618	155	-0.906308	155	5.96E-08	155	-1.79E-07
156	0.406737	156	-0.913545	156	-5.96E-08	156	-5.96E-08
157	0.390731	157	-0.920505	157	-5.96E-08	157	-5.96E-08
158	0.374607	158	-0.927184	158	0	158	0
159	0.358368	159	-0.93358	159	-1.19E-07	159	0
160	0.34202	160	-0.939692	160	0	160	-1.79E-07
161	0.325568	161	-0.945518	161	2.38E-07	161	-5.96E-07
162	0.309017	162	-0.951055	162	5.07E-07	162	-1.55E-06
163	0.292371	163	-0.956301	163	1.22E-06	163	-3.34E-06
164	0.275635	164	-0.961255	164	2.50E-06	164	-6.44E-06
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166	0.241915	166	-0.970277	166	7.14E-06	166	-1.90E-05
167	0.22494	167	-0.97434	167	1.11E-05	167	-2.95E-05
168	0.207895	168	-0.978104	168	1.63E-05	168	-4.40E-05
169	0.190807	169	-0.981571	169	2.19E-06	169	-5.66E-05
170	0.173647	170	-0.984769	170	1.43E-06	170	-3.86E-05
171	0.156434	171	-0.987663	171	7.75E-07	171	-2.53E-05
172	0.139173	172	-0.990252	172	4.62E-07	172	-1.58E-05
173	0.121869	173	-0.992537	173	3.35E-07	173	-9.24E-06
174	0.104528	174	-0.994517	174	7.45E-08	174	-5.01E-06
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177	0.0523361	177	-0.998629	177	-3.73E-08	177	-2.38E-07
178	0.0348995	178	-0.999391	178	5.22E-08	178	0
179	0.0174525	179	-0.999848	179	9.50E-08	179	5.96E-08
180	0	180	-1	180	0	180	5.96E-08
181	-0.0174523	181	-0.999848	181	4.10E-08	181	5.96E-08
182	-0.0348993	182	-0.999391	182	8.57E-08	182	0
183	-0.0523359	183	-0.998629	183	-1.12E-08	183	-2.98E-07
184	-0.0697563	184	-0.997563	184	2.24E-08	184	-9.54E-07
185	-0.0871557	185	-0.996192	185	-1.04E-07	185	-2.38E-06
186	-0.104528	186	-0.994517	186	-1.27E-07	186	-4.95E-06
187	-0.121869	187	-0.992537	187	-2.09E-07	187	-9.24E-06
188	-0.139173	188	-0.990252	188	-5.07E-07	188	-1.58E-05
189	-0.156433	189	-0.987663	189	-8.34E-07	189	-2.53E-05
190	-0.173647	190	-0.984769	190	-1.48E-06	190	-3.86E-05
191	-0.190807	191	-0.981571	191	-2.25E-06	191	-5.65E-05
192	-0.207895	192	-0.978104	192	-1.61E-05	192	-4.41E-05
193	-0.22494	193	-0.974341	193	-1.11E-05	193	-2.94E-05
194	-0.241915	194	-0.970277	194	-7.20E-06	194	-1.88E-05
195	-0.258815	195	-0.965914	195	-4.11E-06	195	-1.15E-05
196	-0.275635	196	-0.961255	196	-2.59E-06	196	-6.44E-06
197	-0.29237	197	-0.956301	197	-1.07E-06	197	-3.34E-06
198	-0.309016	198	-0.951055	198	-3.58E-07	198	-1.55E-06
199	-0.325568	199	-0.945518	199	5.96E-08	199	-6.56E-07
200	-0.34202	200	-0.939692	200	8.94E-08	200	-2.38E-07
201	-0.358368	201	-0.93358	201	1.79E-07	201	-1.79E-07
202	-0.374607	202	-0.927184	202	1.49E-07	202	-5.96E-08
203	-0.390731	203	-0.920505	203	1.79E-07	203	-5.96E-08
204	-0.406736	204	-0.913545	204	1.79E-07	204	-1.19E-07
205	-0.422618	205	-0.906308	205	5.96E-08	205	-1.79E-07
206	-0.438371	206	-0.898794	206	-2.98E-08	206	-6.56E-07
207	-0.45399	207	-0.891005	207	-5.66E-07	207	-1.49E-06
208	-0.46947	208	-0.882944	208	-1.28E-06	208	-3.28E-06
209	-0.484807	209	-0.874613	209	-2.74E-06	209	-6.32E-06
210	-0.499995	210	-0.866014	210	-4.92E-06	210	-1.11E-05
211	-0.51503	211	-0.857149	211	-8.17E-06	211	-1.84E-05
212	-0.529906	212	-0.848019	212	-1.29E-05	212	-2.87E-05
213	-0.544619	213	-0.838628	213	-1.95E-05	213	-4.27E-05
214	-0.559154	214	-0.828996	214	-3.86E-05	214	-4.14E-05
215	-0.57355	215	-0.819124	215	-2.65E-05	215	-2.81E-05
216	-0.587768	216	-0.808999	216	-1.75E-05	216	-1.84E-05
217	-0.601804	217	-0.798624	217	-1.11E-05	217	-1.14E-05
218	-0.615655	218	-0.788004	218	-6.56E-06	218	-6.62E-06
219	-0.629317	219	-0.777142	219	-3.40E-06	219	-3.70E-06
220	-0.642786	220	-0.766043	220	-1.85E-06	220	-1.61E-06
221	-0.656058	221	-0.754709	221	-7.15E-07	221	-7.75E-07
222	-0.66913	222	-0.743145	222	-1.19E-07	222	-3.58E-07
223	-0.681998	223	-0.731354	223	-1.79E-07	223	1.19E-07
224	-0.694658	224	-0.71934	224	5.96E-08	224	-1.19E-07
225	-0.707107	225	-0.707107	225	5.96E-08	225	0
226	-0.71934	226	-0.694658	226	5.96E-08	226	-1.19E-07
227	-0.731354	227	-0.681998	227	0	227	-1.19E-07
228	-0.743144	228	-0.669131	228	-1.19E-07	228	-4.17E-07
229	-0.754709	229	-0.656058	229	-7.15E-07	229	-7.75E-07
230	-0.766043	230	-0.642786	230	-1.73E-06	230	-1.73E-06
231	-0.777142	231	-0.629317	231	-3.58E-06	231	-3.46E-06
232	-0.788004	232	-0.615655	232	-6.74E-06	232	-6.44E-06
233	-0.798624	233	-0.601804	233	-1.14E-05	233	-1.10E-05
234	-0.808998	234	-0.587768	234	-1.84E-05	234	-1.75E-05
235	-0.819124	235	-0.57355	235	-2.83E-05	235	-2.63E-05
236	-0.828996	236	-0.559155	236	-4.15E-05	236	-3.84E-05
237	-0.838628	237	-0.54462	237	-4.28E-05	237	-1.94E-05
238	-0.848019	238	-0.529907	238	-2.87E-05	238	-1.29E-05
239	-0.857149	239	-0.51503	239	-1.84E-05	239	-8.17E-06
240	-0.866014	240	-0.499995	240	-1.13E-05	240	-4.74E-06
241	-0.874613	241	-0.484807	241	-6.50E-06	241	-2.53E-06
242	-0.882944	242	-0.469471	242	-3.40E-06	242	-1.22E-06
243	-0.891005	243	-0.45399	243	-1.55E-06	243	-4.77E-07
244	-0.898793	244	-0.438371	244	-5.96E-07	244	-2.09E-07
245	-0.906308	245	-0.422618	245	-1.79E-07	245	-5.96E-08
246	-0.913545	246	-0.406737	246	-5.96E-08	246	-5.96E-08
247	-0.920505	247	-0.390732	247	-1.19E-07	247	2.68E-07
248	-0.927184	248	-0.374607	248	-1.19E-07	248	2.38E-07
249	-0.93358	249	-0.358368	249	0	249	1.19E-07
250	-0.939692	250	-0.34202	250	-1.79E-07	250	0
251	-0.945518	251	-0.325568	251	-5.96E-07	251	-1.79E-07
252	-0.951055	252	-0.309017	252	-1.49E-06	252	-5.96E-07
253	-0.956301	253	-0.292371	253	-3.34E-06	253	-1.01E-06
254	-0.961255	254	-0.275635	254	-6.50E-06	254	-2.35E-06
255	-0.965914	255	-0.258815	255	-1.15E-05	255	-4.23E-06
256	-0.970277	256	-0.241915	256	-1.90E-05	256	-7.11E-06
257	-0.97434	257	-0.22494	257	-2.94E-05	257	-1.10E-05
258	-0.978103	258	-0.207896	258	-4.40E-05	258	-1.64E-05
259	-0.981571	259	-0.190807	259	-5.65E-05	259	-2.25E-06
260	-0.984769	260	-0.173647	260	-3.86E-05	260	-1.48E-06
261	-0.987663	261	-0.156434	261	-2.53E-05	261	-9.54E-07
262	-0.990252	262	-0.139173	262	-1.58E-05	262	-6.41E-07
263	-0.992537	263	-0.121869	263	-9.18E-06	263	-4.69E-07
264	-0.994517	264	-0.104528	264	-4.95E-06	264	-1.27E-07
265	-0.996192	265	-0.0871557	265	-2.38E-06	265	-1.04E-07
266	-0.997563	266	-0.0697565	266	-8.94E-07	266	-1.12E-07
267	-0.998629	267	-0.0523361	267	-2.38E-07	267	-1.49E-07
268	-0.999391	268	-0.0348998	268	0	268	-1.86E-07
269	-0.999848	269	-0.0174523	269	5.96E-08	269	-3.33E-07
270	-1	270	0	270	5.96E-08	270	0
271	-0.999848	271	0.0174523	271	5.96E-08	271	-4.10E-08
272	-0.999391	272	0.0348993	272	0	272	-8.57E-08
273	-0.998629	273	0.0523361	273	-2.98E-07	273	-2.27E-07
274	-0.997563	274	0.0697565	274	-9.54E-07	274	-2.61E-07
275	-0.996192	275	0.0871557	275	-2.38E-06	275	-2.68E-07
276	-0.994517	276	0.104528	276	-5.01E-06	276	-2.46E-07
277	-0.992537	277	0.121869	277	-9.24E-06	277	2.09E-07
278	-0.990252	278	0.139173	278	-1.59E-05	278	2.68E-07
279	-0.987663	279	0.156434	279	-2.54E-05	279	5.96E-07
280	-0.984769	280	0.173647	280	-3.87E-05	280	1.10E-06
281	-0.981571	281	0.190807	281	-5.66E-05	281	1.88E-06
282	-0.978104	282	0.207895	282	-4.40E-05	282	1.62E-05
283	-0.974341	283	0.22494	283	-2.94E-05	283	1.11E-05
284	-0.970277	284	0.241915	284	-1.88E-05	284	7.20E-06
285	-0.965914	285	0.258814	285	-1.14E-05	285	4.35E-06
286	-0.961255	286	0.275635	286	-6.50E-06	286	2.44E-06
287	-0.956302	287	0.29237	287	-3.34E-06	287	1.19E-06
288	-0.951055	288	0.309016	288	-1.43E-06	288	7.15E-07
289	-0.945518	289	0.325568	289	-5.36E-07	289	2.98E-07
290	-0.939693	290	0.34202	290	-1.19E-07	290	1.19E-07
291	-0.933581	291	0.358368	291	-5.96E-08	291	2.98E-08
292	-0.927184	292	0.374606	292	-5.96E-08	292	-2.98E-08
293	-0.920505	293	0.390731	293	-5.96E-08	293	-1.79E-07
294	-0.913545	294	0.406736	294	5.96E-08	294	1.49E-07
295	-0.906308	295	0.422618	295	-1.19E-07	295	1.79E-07
296	-0.898794	296	0.438371	296	-4.77E-07	296	2.68E-07
297	-0.891005	297	0.453989	297	-1.49E-06	297	6.85E-07
298	-0.882944	298	0.46947	298	-3.28E-06	298	1.28E-06
299	-0.874613	299	0.484807	299	-6.44E-06	299	2.65E-06
300	-0.866014	300	0.499995	300	-1.11E-05	300	5.16E-06
301	-0.857149	301	0.515029	301	-1.84E-05	301	8.34E-06
302	-0.848019	302	0.529906	302	-2.87E-05	302	1.29E-05
303	-0.838628	303	0.544619	303	-4.27E-05	303	1.95E-05
304	-0.828996	304	0.559154	304	-4.14E-05	304	3.85E-05
305	-0.819124	305	0.57355	305	-2.83E-05	305	2.63E-05
306	-0.808999	306	0.587767	306	-1.85E-05	306	1.73E-05
307	-0.798624	307	0.601804	307	-1.14E-05	307	1.11E-05
308	-0.788004	308	0.615655	308	-6.62E-06	308	6.56E-06
309	-0.777143	309	0.629317	309	-3.52E-06	309	3.58E-06
310	-0.766043	310	0.642786	310	-1.73E-06	310	1.79E-06
311	-0.754709	311	0.656058	311	-7.75E-07	311	7.75E-07
312	-0.743145	312	0.66913	312	-5.96E-08	312	4.17E-07
313	-0.731354	313	0.681998	313	1.19E-07	313	1.79E-07
314	-0.71934	314	0.694658	314	5.96E-08	314	1.19E-07
315	-0.707107	315	0.707106	315	1.79E-07	315	1.19E-07
316	-0.694659	316	0.719339	316	0	316	0
317	-0.681998	317	0.731354	317	1.79E-07	317	2.38E-07
318	-0.669131	318	0.743144	318	-1.19E-07	318	3.58E-07
319	-0.656059	319	0.754709	319	-5.96E-07	319	8.94E-07
320	-0.642786	320	0.766042	320	-1.55E-06	320	1.79E-06
321	-0.629317	321	0.777142	321	-3.34E-06	321	3.70E-06
322	-0.615655	322	0.788004	322	-6.44E-06	322	6.74E-06
323	-0.601804	323	0.798624	323	-1.10E-05	323	1.14E-05
324	-0.587768	324	0.808998	324	-1.72E-05	324	1.87E-05
325	-0.573551	325	0.819123	325	-2.62E-05	325	2.84E-05
326	-0.559155	326	0.828996	326	-3.83E-05	326	4.15E-05
327	-0.544619	327	0.838628	327	-1.98E-05	327	4.24E-05
328	-0.529906	328	0.848019	328	-1.33E-05	328	2.84E-05
329	-0.51503	329	0.857149	329	-8.58E-06	329	1.82E-05
330	-0.499995	330	0.866014	330	-5.07E-06	330	1.11E-05
331	-0.484807	331	0.874613	331	-2.98E-06	331	6.26E-06
332	-0.46947	332	0.882944	332	-1.64E-06	332	3.16E-06
333	-0.45399	333	0.891005	333	-8.64E-07	333	1.31E-06
334	-0.438371	334	0.898793	334	-5.36E-07	334	4.17E-07
335	-0.422618	335	0.906308	335	-3.87E-07	335	0
336	-0.406736	336	0.913545	336	-1.49E-07	336	-5.96E-08
337	-0.390731	337	0.920505	337	-1.79E-07	337	-5.96E-08
338	-0.374607	338	0.927184	338	-2.09E-07	338	-5.96E-08
339	-0.358368	339	0.93358	339	-2.38E-07	339	-1.19E-07
340	-0.34202	340	0.939692	340	-3.58E-07	340	5.96E-08
341	-0.325568	341	0.945518	341	-2.98E-07	341	5.36E-07
342	-0.309016	342	0.951055	342	-7.15E-07	342	1.43E-06
343	-0.29237	343	0.956301	343	-1.43E-06	343	3.22E-06
344	-0.275635	344	0.961255	344	-2.71E-06	344	6.44E-06
345	-0.258815	345	0.965914	345	-4.62E-06	345	1.14E-05
346	-0.241915	346	0.970277	346	-7.57E-06	346	1.88E-05
347	-0.22494	347	0.974341	347	-1.11E-05	347	2.94E-05
348	-0.207895	348	0.978104	348	-1.65E-05	348	4.40E-05
349	-0.190807	349	0.981571	349	-2.15E-06	349	5.65E-05
350	-0.173647	350	0.984769	350	-1.37E-06	350	3.86E-05
351	-0.156434	351	0.987663	351	-9.54E-07	351	2.53E-05
352	-0.139173	352	0.990252	352	-6.41E-07	352	1.58E-05
353	-0.121869	353	0.992537	353	-4.69E-07	353	9.18E-06
354	-0.104529	354	0.994517	354	-2.24E-08	354	4.95E-06
355	-0.0871562	355	0.996192	355	-7.45E-09	355	2.38E-06
356	-0.0697565	356	0.997563	356	-1.12E-07	356	8.94E-07
357	-0.0523361	357	0.998629	357	-1.49E-07	357	2.38E-07
358	-0.0348998	358	0.999391	358	-1.86E-07	358	0
359	-0.0174528	359	0.999848	359	-2.31E-07	359	-5.96E-08
360	0	360	1	360	0	360	-5.96E-08
361	0.0174523	361	0.999848	361	-4.15E-07	361	-5.96E-08
362	0.0348993	362	0.999391	362	-8.57E-08	362	0
363	0.0523357	363	0.998629	363	2.50E-07	363	2.98E-07
364	0.0697561	364	0.997563	364	-1.56E-07	364	9.54E-07
365	0.0871557	365	0.996192	365	-2.68E-07	365	2.38E-06
366	0.104528	366	0.994517	366	1.27E-07	366	4.95E-06
367	0.121869	367	0.992537	367	-1.64E-07	367	9.30E-06
368	0.139172	368	0.990252	368	3.73E-07	368	1.59E-05
369	0.156433	369	0.987663	369	1.06E-06	369	2.53E-05
370	0.173647	370	0.984769	370	1.48E-06	370	3.86E-05
371	0.190807	371	0.981571	371	1.88E-06	371	5.66E-05
372	0.207895	372	0.978104	372	1.66E-05	372	4.40E-05
373	0.224939	373	0.974341	373	1.09E-05	373	2.96E-05
374	0.241914	374	0.970277	374	7.26E-06	374	1.88E-05
375	0.258814	375	0.965914	375	4.35E-06	375	1.14E-05
376	0.275635	376	0.961255	376	2.80E-06	376	6.38E-06
377	0.29237	377	0.956302	377	1.19E-06	377	3.34E-06
378	0.309016	378	0.951055	378	8.05E-07	378	1.43E-06
379	0.325567	379	0.945518	379	2.98E-08	379	5.96E-07
380	0.34202	380	0.939693	380	4.47E-07	380	0
381	0.358368	381	0.933581	381	2.98E-08	381	5.96E-08
382	0.374606	382	0.927184	382	2.98E-07	382	-1.19E-07
383	0.390731	383	0.920505	383	-5.96E-08	383	5.96E-08
384	0.406736	384	0.913545	384	-1.79E-07	384	1.19E-07
385	0.422618	385	0.906308	385	1.79E-07	385	1.19E-07
386	0.438371	386	0.898794	386	6.56E-07	386	2.98E-07
387	0.453989	387	0.891005	387	6.85E-07	387	1.49E-06
388	0.46947	388	0.882945	388	1.70E-06	388	3.04E-06
389	0.484807	389	0.874613	389	2.98E-06	389	6.26E-06
390	0.499995	390	0.866014	390	4.86E-06	390	1.13E-05
391	0.515029	391	0.857149	391	8.34E-06	391	1.84E-05
392	0.529906	392	0.84802	392	1.34E-05	392	2.84E-05
393	0.544619	393	0.838628	393	1.97E-05	393	4.27E-05
394	0.559155	394	0.828996	394	3.81E-05	394	4.17E-05
395	0.57355	395	0.819124	395	2.63E-05	395	2.83E-05
396	0.587768	396	0.808999	396	1.70E-05	396	1.88E-05
397	0.601804	397	0.798624	397	1.08E-05	397	1.16E-05
398	0.615655	398	0.788004	398	5.96E-06	398	7.09E-06
399	0.629317	399	0.777142	399	3.46E-06	399	3.58E-06
400	0.642786	400	0.766043	400	1.43E-06	400	1.97E-06
401	0.656058	401	0.754709	401	7.15E-07	401	7.75E-07
402	0.66913	402	0.743145	402	-1.79E-07	402	5.96E-07
403	0.681998	403	0.731354	403	-1.19E-07	403	1.19E-07
404	0.694658	404	0.71934	404	-1.79E-07	404	2.38E-07
405	0.707107	405	0.707107	405	-5.96E-08	405	5.96E-08
406	0.71934	406	0.694658	406	-3.58E-07	406	3.58E-07
407	0.731354	407	0.681998	407	0	407	1.19E-07
408	0.743144	408	0.669131	408	-1.19E-07	408	6.56E-07
409	0.754709	409	0.656058	409	7.75E-07	409	7.15E-07
410	0.766043	410	0.642786	410	1.49E-06	410	1.97E-06
411	0.777142	411	0.629317	411	3.58E-06	411	3.46E-06
412	0.788004	412	0.615655	412	6.50E-06	412	6.74E-06
413	0.798624	413	0.601804	413	1.11E-05	413	1.14E-05
414	0.808999	414	0.587768	414	1.84E-05	414	1.76E-05
415	0.819124	415	0.57355	415	2.79E-05	415	2.69E-05
416	0.828996	416	0.559155	416	4.12E-05	416	3.87E-05
417	0.838628	417	0.54462	417	4.28E-05	417	1.94E-05
418	0.848019	418	0.529906	418	2.87E-05	418	1.29E-05
419	0.857149	419	0.51503	419	1.82E-05	419	8.58E-06
420	0.866014	420	0.499995	420	1.11E-05	420	5.07E-06
421	0.874613	421	0.484807	421	6.08E-06	421	3.22E-06
422	0.882944	422	0.469471	422	3.22E-06	422	1.55E-06
423	0.891005	423	0.45399	423	1.31E-06	423	8.64E-07
424	0.898793	424	0.438371	424	5.96E-07	424	2.09E-07
425	0.906308	425	0.422618	425	0	425	3.87E-07
426	0.913545	426	0.406737	426	5.96E-08	426	5.96E-08
427	0.920505	427	0.390732	427	-1.79E-07	427	4.17E-07
428	0.927184	428	0.374607	428	5.96E-08	428	-1.49E-07
429	0.93358	429	0.358368	429	-1.19E-07	429	2.38E-07
430	0.939692	430	0.34202	430	1.79E-07	430	0
431	0.945518	431	0.325568	431	4.77E-07	431	5.66E-07
432	0.951055	432	0.309017	432	1.49E-06	432	5.96E-07
433	0.956301	433	0.29237	433	3.22E-06	433	1.43E-06
434	0.961255	434	0.275635	434	6.50E-06	434	2.35E-06
435	0.965914	435	0.258815	435	1.14E-05	435	4.62E-06
436	0.970277	436	0.241915	436	1.90E-05	436	7.11E-06
437	0.97434	437	0.22494	437	2.94E-05	437	1.14E-05
438	0.978104	438	0.207895	438	4.39E-05	438	1.68E-05
439	0.981571	439	0.190807	439	5.65E-05	439	2.15E-06
440	0.984769	440	0.173647	440	3.87E-05	440	1.01E-06
441	0.987663	441	0.156434	441	2.53E-05	441	8.49E-07
442	0.990252	442	0.139173	442	1.58E-05	442	6.41E-07
443	0.992537	443	0.121869	443	9.24E-06	443	9.69E-08
444	0.994517	444	0.104529	444	4.95E-06	444	3.95E-07
445	0.996192	445	0.0871562	445	2.38E-06	445	7.45E-09
446	0.997563	446	0.069757	446	9.54E-07	446	-3.58E-07
447	0.998629	447	0.0523361	447	2.98E-07	447	-2.27E-07
448	0.999391	448	0.0348998	448	0	448	1.86E-07
449	0.999848	449	0.0174528	449	-5.96E-08	449	-1.43E-07
450	1	450	4.77E-07	450	-5.96E-08	450	2.72E-07

Sheet 2: Timing_Analysis

Timing Analysis for 900 sin and cosine calculations from -450 deg to 450 deg


Using Sin_f32() and Sin_f32()			Using SinCos_f32()
1192 usec			585 usec

12 - Component Implementation

Component Implementation

Component Documentation

12.1 - NxtrStrtUp_IntegrationManual

Integration Manual

For

NxtrStrtUp

VERSION: 1

DATE: 06/01/17

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	Jared Julien	1	06/01/17

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 DaVinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description
DFD	Design functional diagram
MDD	Module design Document
	<ADD more to the table if applicable>

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version
1	MDD Guidelines	Process 04.00.00
2	Software Naming Conventions	Process 04.00.00
3	Software Coding Standards	Process 04.00.00
4	AR400A_NxtrStrtUp_Design	See Synergy subproject version

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

None

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

None

DaVinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	Interrupt Category (FE/EI)	Interrupt Channel Number	Priority Dependency	Notes
N/A

Manual Configuration Changes

	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

None

Required Global Data Outputs

None

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
N/A

Runnable	Scheduling Requirements	Trigger
N/A

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
.appstrtvect	Entry point to application	Must be placed at the location that the bootloader is expected to jump to via linker command file.

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
N/A

NvM Blocks

None

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

The following option must be specified in the main .gpj project file:

-nostartfiles

This change prevents the use of the Green Hills startup library which this component replaces.

Appendix

The following symbols need to be defined in the linker command file for the project surrounding RAM sections that are to be cleared at init.

Symbol	Notes
clearedRamStart	To be placed near the top of RAM, before any bss or sbss section have been included by the application or OS.
clearedRamEnd	To be placed near the end of RAM but before the definition of any heap memory and after any and all bss or sbss sections.

These symbols are used by the library to denote the beginning and end of RAM that will be cleared during application init. The intent is to keep the range as small as possible to optimize startup timing while including all RAM that is guaranteed to be cleared at init. Due to the way Nexteer structures their memory map the cleared section may contain initialized sections (*data and *sdata) as well. This will not cause any functional issues but will hinder performance slightly.

Caution: if a variable is outside of the range between these two symbols its value at init cannot be assured. It is recommended that the .map file be analyzed once the changes have been integrated and the project compiles to ensure that there are no variables that fall outside of this range.

12.2 - NxtrStrtUp_PeerReviewChecklist

Overview

Summary Sheet
Synergy Project
Source Code
PolySpace
Integration Manual

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR400A_NxtrStrtUp_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR400A_NxtrStrtUp_Impl_1.3.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Jared Julien

Work CR ID:

EA4#12342

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

No

MDD

Yes

Source Code

Yes

PolySpace

Yes

Integration Manual

Yes

Davinci Files

Comments:

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

05/31/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

NxtrStrtUp.c

Source File Revision:

4

Header File Name:

NxtrStrtUpLo.850

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this. 2

MDD Name:

N/A

Revision:

N/A

FDD/SCIR/DSR/FDR/CM Name:

AR400A_NxtrStrtUp_Design

Revision:

1.0.0

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

Yes

Comments:

for constant names

Yes

Comments:

for function names

No

Comments:

Functions names are special and must match C standard

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

No outputs

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

Yes

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Component.h is included

Yes

Comments:

All other includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

N/A

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

N/A

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

No

Comments:

finite loop iterations: [N63]

An intentional endless loop exists after call to main function

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

No

Comments:

null pointer if needed: [N70]

Symbols are provided by linker and guaranteed to be non-zero

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

No outputs

All code is mapped with FDD (all FDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments:

for any FDD corrections needed

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/01/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

NxtrStrtUp.c

Source File Revision:

4

EA4 Static Analysis Compliance Guideline version:

01.02.00

Poly Space version:

Windows User: eg. 2013b 2013b

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 N/A

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

N/A

Comments:

Initial version

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

Yes

Comments:

for all functions in the component per Design

and Coding Standards rule [N47]

General Notes / Comments:

Comments regarding the process to run Polyspace on this component can be found in tools/Polyspace/README.txt.

Need to follow up on 6.3 deviation - Kathleen thinks that she and Gus already came up with one

New deviation for 11.4, 8.12, and 8.9 used that are not in officially realeased guideline document yet.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/05/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Kathleen Creager

Sheet 5: Integration Manual

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Integration Manual Review)

Integration Manual Name:

kzshz2: Intended Use: Identify which file is being reviewed Rationale: Required for traceability. It will help to ensure this sheet is not attached to the wrong design review form. NxtrStrtUp_IntegrationManual.docx

Integration Manual Revision:

kzshz2: Intended Use: Identify which version of the integration manual has been reviewed. Rationale: Required for traceability between the MDD and review. Auditors will likely require this. 1

Quality Check Items:

Rationale is required for all answers of No

Synergy version matches header

Yes

Comments:

Version 1

Latest template used

Yes

Comments:

Change log contains detailed description of changes

Yes

Comments:

Initial version

Changes Highlighted (for Integrator)

N/A

Comments:

Initial version

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

06/01/17

Lead Peer Reviewer:

Lucas Wendling

Approved by Reviewer(s):

Yes

Other Reviewer(s):

13 - Component Implementation

Component Implementation

Component Documentation

13.1 - NxtrTi Integration Manual

Integration Manual

For

NxtrTi

VERSION: 1

DATE: 02/22/2017

Prepared By:

Software Group,

Nexteer Automotive,

Saginaw, MI, USA

Location: The official version of this document is stored in the Nexteer Configuration Management System.

Revision History

Sl. No.	Description	Author	Version	Date
1	Initial version	J. Julien	1	02/22/2017

Table of Contents

1 Abbrevations And Acronyms 4

2 References 5

3 Dependencies 6

3.1 SWCs 6

3.2 Global Functions(Non RTE) to be provided to Integration Project 6

4 Configuration REQUIREMeNTS 7

4.1 Build Time Config 7

4.2 Configuration Files to be provided by Integration Project 7

4.3 Da Vinci Parameter Configuration Changes 7

4.4 DaVinci Interrupt Configuration Changes 7

4.5 Manual Configuration Changes 7

5 Integration DATAFLOW REQUIREMENTS 8

5.1 Required Global Data Inputs 8

5.2 Required Global Data Outputs 8

5.3 Specific Include Path present 8

6 Runnable Scheduling 9

7 Memory Map REQUIREMENTS 10

7.1 Mapping 10

7.2 Usage 10

7.3 Non RTE NvM Blocks 10

7.4 RTE NvM Blocks 10

8 Compiler Settings 11

8.1 Preprocessor MACRO 11

8.2 Optimization Settings 11

9 Appendix 12

Abbrevations And Acronyms

Abbreviation	Description

References

This section lists the title & version of all the documents that are referred for development of this document

Sr. No.	Title	Version

Dependencies

SWCs

Module	Required Feature
None	N/A

Note : Referencing the external components should be avoided in most cases. Only in unavoidable circumstance external components should be referred. Developer should track the references.

Global Functions(Non RTE) to be provided to Integration Project

See section 6. Please note the server runnables listed can be used as needed in the integration project and can be called via the RTE or outside of the RTE as required.

Configuration REQUIREMeNTS

Build Time Config

Modules	Notes
None

Configuration Files to be provided by Integration Project

None

Da Vinci Parameter Configuration Changes

Parameter	Notes	SWC
N/A

DaVinci Interrupt Configuration Changes

ISR Name	VIM #	Priority Dependency	Notes
N/A

Manual Configuration Changes

Constant	Notes	SWC
N/A

Integration DATAFLOW REQUIREMENTS

Required Global Data Inputs

N/A

Required Global Data Outputs

N/A

Specific Include Path present

Yes

Runnable Scheduling

This section specifies the required runnable scheduling.

Init	Scheduling Requirements	Trigger
NxtrTiInit1		RTE Init Task

Runnable	Scheduling Requirements	Trigger
NxtrTiPer1	None	RTE 2ms Task
GetRefTmr100MicroSec32bit_Oper	Server Runnable	Client Call
GetRefTmr1MicroSec32bit_Oper	Server Runnable	Client Call
GetTiSpan100MicroSec32bit_Oper	Server Runnable	Client Call
GetTiSpan1MicroSec32bit_Oper	Server Runnable	Client Call

.

Memory Map REQUIREMENTS

Mapping

Memory Section	Contents	Notes
CDD_NxtrTi_START_SEC_CODE

* Each …START_SEC… constant is terminated by a …STOP_SEC… constant as specified in the AUTOSAR Memory Mapping requirements.

Usage

Feature	RAM	ROM
<Memmap usuage info>

Table 1: ARM Cortex R4 Memory Usage

Non RTE NvM Blocks

Block Name

<NVM block used Non RTE functions >

Note : Size of the NVM block if configured in developer

RTE NvM Blocks

Block Name

<NVM block used in RTE functions >

Note : Size of the NVM block if configured in developer

Compiler Settings

Preprocessor MACRO

None

Optimization Settings

None

Appendix

<This section is for appendix>

13.2 - NxtrTi Review

Overview

Summary Sheet
Synergy Project
Source Code
PolySpace

Sheet 1: Summary Sheet

Rev 1.2

8-Jun-15

Peer Review Summary Sheet

Synergy Project Name:

kzshz2: Intended Use: Identify which component is being reviewed. This should be the Module Short Name from Synergy Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR102B_NxtrTi_Impl

Revision / Baseline:

kzshz2: Intended Use: Identify which Synergy revision of this component is being reviewed Rationale: Required for traceability. It will help to ensure this form is not attaced to the the wrong change request. AR102B_NxtrTi_Impl_1.0.0

Change Owner:

kzshz2: Intended Use: Identify the developer who made the change(s) Rationale: A change request may have more than one resolver, this will help identify who made what change. Change owner identification may be required by indusrty standards. Jared Julien

Work CR ID:

EA4#15505

kzshz2: Intended Use: Intended to identify at a high level to the reviewers which areas of the component have been changed. Rationale: This will be good information to know when ensuring appropriate reviews have been completed. Modified File Types:

kzshz2: Intended Use: Identify who where the reviewers, what they reviewed, and if the reviewed changes have been approved to release the code for testing. Comments here should be at a highlevel, the specific comments should be present on the specific review form sheet. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. ADD DR Level Move reviewer and approval to individual checklist form Review Checklist Summary:

Reviewed:

N/A

MDD

Yes

Source Code

Yes

PolySpace

No

Integration Manual

N/A

Davinci Files

Comments:

MDD was not created as part of this change - FDD captures all relevant design details

General Guidelines:
- The reviews shall be performed over the portions of the component that were modified as a result of the Change Request.
- New components should include FDD Owner and Integrator as apart of the Group Review Board (Source Code, Integration Manual, and Davinci Files)
- Enter any rework required into the comment field and select No. When the rework is complete, review again using this same review sheet and select Yes. Add date and additional comment stating that the rework is completed.
- To review a component with multiple source code files use the "Add Source" button to create a Source code tab for each source file.
- .h file should be reviewed with the source file as part of the source file.

Sheet 2: Synergy Project

Peer Review Meeting Log (Component Synergy Project Review)

Quality Check Items:

Rationale is required for all answers of No

New baseline version name from Summary Sheet follows

Yes

Comments:

naming convention

Project contains necessary subprojects

Yes

Comments:

Project contains the correct version of subprojects

Yes

Comments:

Design subproject is correct version

Yes

Comments:

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

09/22/17

Lead Peer Reviewer:

Matt Leser

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 3: Source Code

Rev 1.2

8-Jun-15

Peer Review Meeting Log (Source Code Review)

Source File Name:

NxtrTi.c

Source File Revision:

1

Header File Name:

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this.

Header File Name:

Header File Revision:

kzshz2: Intended Use: Identify which version of the source file is being review. Rationale: Required for traceability between source code and review. Auditors will likely require this.

MDD Name:

N/A

Revision:

N/A

FDD/SCIR/DSR/FDR/CM Name:

AR102B_NxtrTi_Design

Revision:

1.0.0

Quality Check Items:

Rationale is required for all answers of No

Working EA4 Software Naming Convention followed:

for variable names

Yes

Comments:

for constant names

Yes

Comments:

for function names

Yes

Comments:

for other names (component, memory

Yes

Comments:

mapping handles, typedefs, etc.)

All paths assign a value to outputs, ensuring

N/A

Comments:

all outputs are initialized prior to being written

Requirements Tracability tags in code match the requirements tracability in the FDD

N/A

Comments:

requirements tracability in the FDD

All variables are declared at the function level.

Yes

Comments:

Synergy version matches change history

kzshz2: Intended Use: Indicate that the the versioning was confirmed by the peer reviewer(s). Rationale: There have been many occassions where versions were not updated in files and as a result Unit Test were referencing wrong versions. This often time leads to the need to re-run of batch tests.

Yes

Comments:

and Version Control version in file comment block

Change log contains detailed description of changes

Yes

Comments:

and Work CR number

Code accurately implements FDD (Document or Model)

Yes

Comments:

Verified no Compiler Errors or Warnings

KMC: Intended Use: To confirm no compiler errors or warnings exist for the code under review (warnings from contract header files may be ignored). Rationale: This is needed to ensure there will be no errors discovered at the time of integration. A Sandox project should be used; QAC can find compiler errors but not warnings.

Yes

Comments:

Component.h is included

Yes

Comments:

All other includes are actually needed. (System includes

Yes

Comments:

only allowed in Nexteer library components)

Software Design and Coding Standards followed:

Version: 2.1

Code comments are clear, correct, and adequate

Yes

Comments:

and have been updated for the change: [N40] and

all other rules in the same section as rule [N40],

plus [N75], [N12], [N23], [N33], [N37], [N38],

[N48], [N54], [N77], [N79], [N72]

Source file (.c and .h) comment blocks are per

Yes

Comments:

standards and contain correct information: [N41], [N42]

Function comment blocks are per standards and

Yes

Comments:

contain correct information: [N43]

Code formatting (indentation, placement of

Yes

Comments:

braces, etc.) is per standards: [N5], [N55], [N56],

[N57], [N58], [N59]

Embedded constants used per standards; no

Yes

Comments:

"magic numbers": [N12]

Memory mapping for non-RTE code

Yes

Comments:

is per standard

All execution-order-dependent code can be

N/A

Comments:

recognized by the compiler: [N80]

All loops have termination conditions that ensure

N/A

Comments:

finite loop iterations: [N63]

All divides protect against divide by zero

N/A

Comments:

if needed: [N65]

All integer division and modulus operations

N/A

Comments:

handle negative numbers correctly: [N76]

All typecasting and fixed point arithmetic,

N/A

Comments:

including all use of fixed point macros and

timer functions, is correct and has no possibility

of unintended overflow or underflow: [N66]

All float-to-unsiged conversions ensure the.

N/A

Comments:

float value is non-negative: [N67]

All conversions between signed and unsigned

N/A

Comments:

types handle msb==1 as intended: [N78]

All pointer dereferencing protects against

N/A

Comments:

null pointer if needed: [N70]

Component outputs are limited to the legal range

N/A

Comments:

defined in the FDD DataDict.m file : [N53]

All code is mapped with FDD (all FDD

Yes

Comments:

subfunctions and/or model blocks identified

with code comments; all code corresponds to

some FDD subfunction and/or model block): [N40]

Review did not identify violations of other

Yes

Comments:

coding standard rules

Anomaly or Design Work CR created

N/A

Comments: List Anomaly or CR numbers

for any FDD corrections needed

General Notes / Comments:

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

09/22/17

Lead Peer Reviewer:

Matt Leser

Approved by Reviewer(s):

Yes

Other Reviewer(s):

Sheet 4: PolySpace

Rev 1.2

8-Jun-15

Peer Review Meeting Log (QAC/PolySpace Review)

Source File Name:

NxtrTi.c

Source File Revision:

1

Source File Name:

Source File Revision:

Source File Name:

Source File Revision:

EA4 Static Analysis Compliance Guideline version:

01.03.00

Poly Space version:

Windows User: eg. 2013b 2013b

Polyspace sub project version:

Windows User: eg. TL108a_PolyspaceSuprt_1.0.0 N/A

Quality Check Items:

Rationale is required for all answers of No

Contract Folder's header files are appropriate and

kzshz2: Intended Use: Identify that the contract folder contains only the information required for this component. All other variables, constants, function prototypes, etc. should be removed. Rationale: This will help avoid unit testers having to considers object not used. It will also avoid having other files required for QAC.

Yes

Comments:

function prototypes match the latest component version

100% Compliance to the EA4 Static Analysis

Yes

Comments:

Compliance Guideline

Are previously added justification and deviation

Yes

Comments:

comments still appropriate

Do all MISRA deviation comments use approved

Yes

Comments:

deviation tags

Cyclomatic complexity and Static path count OK

Creager, Kathleen: use Browse Function Metrics, STCYC and STPTH

No

Comments:

for all functions in the component per Design

Found cyclomatic complexity 17 for SinCos_f32() function

and Coding Standards rule [N47]

General Notes / Comments:

Rule 21.1 was observed but the case was unknown. The code reference by the warning was scruitinzed with no changes deemed necessary.

LN: Intended Use: Identify who were the reviewers and if the reviewed changes have been approved. Rationale: Since this Form will be attached to the Change Request it will confirm the approval and provides feedback in case of audits. KMC: Group Review Level removed in Rev 4.0 since the design review is not checked in until approved, so it would always be DR4. Review Board:

Change Owner:

Jared Julien

Review Date :

09/22/17

Lead Peer Reviewer:

Matt Leser

Approved by Reviewer(s):

Yes

Other Reviewer(s):